Bounded Gradient Attitude Control of a Quadcopter

This paper deals with the problem of attitude control of a VTOL Quadrotor UAV. The mathematical model of the UAV has added endogenous and exogenous disturbances. In addition, loss of efficiency modelling in the actuators, noise and bias through time-varying multiplicative and additive actuator faults have been added. A control methodology based on the potential energy gradient of the aircraft is designed using a Lyapunov function. Through this control methodology, different control algorithms can be developed. Control actions are bounded, and global asymptotic stability is demonstrated. Numerical simulations illustrate the effectiveness of the pro-posed control law.