| Autonomous unmanned vertical take-off and landing aircraft have recently gained popularity for their numerous potential applications where human interaction is difficult or hazardous. In this thesis, we deal with the design and real-time implementation of attitude stabilization controllers for a model-sized quadrotor aircraft.; A brief history of the quadrotor aircraft is presented along with the motivation and interest in this aircraft design. Two controllers for the attitude stabilization of the quadrotor aircraft are presented. The first controller, providing exponential stability, is based on a PD 2 feedback structure with gyroscopic and Coriolis torques compensation, where the proportional action is in terms of the vector-quaternion, and the derivative actions are in terms of the vector-quaternion velocity, and the angular velocity. The second controller, providing asymptotic stability, is a simple PD feedback without gyroscopic and Coriolis torques compensation. (Abstract shortened by UMI.)... |
