Stabilization and Tracking Control Algorithms for VTOL Aircraft: Theoretical and Practical Overview
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Stabilization and Tracking Control Algorithms for VTOL Aircraft: Theoretical and Practical Overview J. Betancourt1 · P. Castillo1
· R. Lozano1,2
Received: 8 March 2020 / Accepted: 21 August 2020 © Springer Nature B.V. 2020
Abstract Control theory applied to multirotor aerial systems (MAS) has gained attention with the recent increase on the power computation for embedded systems. These systems are now able to perform the calculations needed for a variety of control techniques, with lower cost of sensors and actuators. These types of control algorithms are applied to the position and the attitude of MAS. In this paper, a brief overview evaluation of popular control algorithms for multirotor aerial systems, especially for VTOL - Vertical Take-Off and Landing aircraft, is presented. The main objective is to provide a unified and accessible analysis, placing the classical model of the VTOL vehicle and the studied control methods into a proper context. In addition, to provide the basis for beginner users working in aerial vehicles. In addition, this work contributes in presenting a comprehensive analysis of the implementation for the Nonlinear and Linear Backstepping, Nested Saturation and the Hyperbolic Bounded Controllers. These techniques are selected and compared to evaluate the performance of the aircraft, by simulations and experimental studies. Keywords Multirotor aerial systems · Classical approach · Virtual appraoch · Nonlinear/Linear backstepping · Nested saturation · Hyperbolic bounded control
1 Introduction Unmanned Aerial Vehicles systems (UAVs) have been studied extensively in recent years [23, 40], due to their high mobility and capacity to perform tasks with complete autonomy. Besides, these vehicles present an ideal testbed for innovative theoretical approaches to the problem of controlling mechanical systems. They are characterized Electronic supplementary material The online version of this article (https://doi.org/10.1007/s10846-020-01252-7) contains supplementary material, which is available to authorized users. P. Castillo
[email protected]
by their under-actuation, low computational power, high working frequency, and high autonomy [22]. Out of all UAVs, multirotors stand out for their good manoeuvrability, stability and payload. The first studies of these multirotors vehicles were based on stabilizing their attitude because it represents the main challenge before flying the vehicle. VTOL vehicles, specially the PVTOL -Planar Vertical TakeOff and Landing - or the Quadrotor configurations, are taken as particular cases of study and several control methodologies have been used to stabilize them, we can cite for example; Backstepping [17, 47, 55], Sliding Mode Control [27, 36, 51], PID [1, 19, 32, 33, 41], optimal control [10, 26, 28, 45], robust control [8, 12, 54], learning-based control [35], and others [3, 31, 53].
J. Betancourt [email protected]
1.1 Related Work
R. Lozano [email protected]
In control systems for multirotor aerial vehicles there are two different types of control,
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