{"title":"A review on quadrotor attitude control strategies","authors":"","doi":"10.1007/s41315-023-00308-9","DOIUrl":null,"url":null,"abstract":"<h3>Abstract</h3> <p>Quadrotors have been more frequently used in different areas, from aerial photography to drug delivery in medical emergencies. These vehicles have high maneuverability, which makes them suitable for carrying out missions that humans would not be able to do due to physical constraints. They can be used in inhospitable environments where the physical integrity and health of humans would be compromised. However, they are highly nonlinear and multivariable systems whose dynamics are strongly coupled. These characteristics turn attitude control design into a complex task. Furthermore, the controller has to be able to deal with uncertainties and exogenous disturbances in practice, intensifying the difficulty of the control problem. Therefore, a quadrotor attitude control must have high robustness and fast response without compromising its global stability. Aiming to gather solutions to this control problem, this article provides a detailed and in-depth discussion on quadrotor attitude control strategies for flight control designers, including angular representation, controller stability, fault tolerance, actuator saturation, and strategies for exogenous disturbance rejection.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":2.1000,"publicationDate":"2024-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Robotics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1007/s41315-023-00308-9","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
Quadrotors have been more frequently used in different areas, from aerial photography to drug delivery in medical emergencies. These vehicles have high maneuverability, which makes them suitable for carrying out missions that humans would not be able to do due to physical constraints. They can be used in inhospitable environments where the physical integrity and health of humans would be compromised. However, they are highly nonlinear and multivariable systems whose dynamics are strongly coupled. These characteristics turn attitude control design into a complex task. Furthermore, the controller has to be able to deal with uncertainties and exogenous disturbances in practice, intensifying the difficulty of the control problem. Therefore, a quadrotor attitude control must have high robustness and fast response without compromising its global stability. Aiming to gather solutions to this control problem, this article provides a detailed and in-depth discussion on quadrotor attitude control strategies for flight control designers, including angular representation, controller stability, fault tolerance, actuator saturation, and strategies for exogenous disturbance rejection.
期刊介绍：
The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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