A Pitch Control System Design for Bicopter UAVs

A study to design a pitch control system for bi-copters is presented. The bicopters are a type of unmanned aerial vehicle (UAV) that only utilizes two rotors. The pitch control system is to manipulate the bicopter flight attitude such that flies at a desired pitch angle. The pitch control system is designed based on a bicopter dynamics model by applying the Lyapunov-based control method. The control design results in a state feedback controller that has structure of proportional-derivative (PD) control. Applying the controller results in a closed loop pitch control system that is globally asymptotically stable (GAS). Performance of the designed pitch control system is demonstrated through computer simulation. The simulation results show that the designed pitch control system is able to make the bicopter fly at the desired pitch angle. The bicopter is able to change the pitch angle from 0 to 15 degrees without steady state error within 1.19 seconds.