A Lyapunov-based Nonlinear Discrete-Time Controller Design for Attitude Tracking Control of Quadrotor Unmanned Aerial Vehicles

In this study, a Lyapunov-based nonlinear attitude controller design is presented for attitude tracking of quadrotor unmanned aerial vehicles (QUAVs) in the discrete-time setting. Firstly, the overall system dynamic of the quadrotor helicopters is introduced, and then approximated dynamic model for quadrotor attitude dynamic is derived via the Euler approach. After, the discrete-time controllers based on the discrete-time positive semi-definite Lyapunov functions are designed for each Euler angle. Finally, successful simulation works are carried out to show the applicability and effectiveness of the proposed discrete-time controllers aiming to track the desired set-point and time-varying reference trajectories.