Energy Shaping Controller for a Revisited Quadrotor Model Using New Passive Outputs

Abstract

This article proposes a new control algorithm to solve the regulation problem for a quadrotor vehicle using the passivity-based control method, without solving partial differential equations neither performing a partial dynamic inversion. After a resourceful change of coordinates, it is possible to identify new quadrotor cyclo passive outputs. Then, a nonlinear proportional-integral controller in terms of these cyclo passive outputs completes the design. The proposed controller is evaluated using numerical simulations.