Maneuvering Control of Quadrotor UAV Driven by DC-motors

The maneuvering control of the quadrotor UAV driven by DC-motors is investigated in this paper. Firstly, inner-outer loop control and nested saturation control are introduced to address the underactuated problem and suppress the coupling effects. The closed-loop system is asymptotically stable under the control of virtual force and torques. Secondly, to ensure that the maneuvering control tasks of the UAV can be effectively allocated among the four DC-motors, a quadratic programming approach is employed in the inner loop to coordinate attitude tracking and bounded control. Finally, by incorporating the stabilization function extractor, the UAV subsystem and the DC-motors subsystem are effectively integrated. The input voltage controller is designed to ensure that both the path tracking errors and the velocity assignment error converge to zero. A simulation is conducted to validate the effectiveness of the proposed controller.