Development and Application of a Novel High-Order Fully Actuated System Approach—Part I: 3-DOF Quadrotor Control

The quadrotor hierarchical control design (position-attitude) based on the state-space modeling has been widely applied in the past. Although the state-space representation, based on a group of first-order differential equations, is effective in modeling many dynamic systems, inherent high-order dynamics and control of quadrotor systems may not be properly handled by the state-space modeling. This letter proposes a modified high-order fully actuated (HOFA) theory for a group of high-order dynamic systems, including the quadrotor system, without relying on pseudo strict-feedback forms required by the original HOFA approach. Hence, the quadrotor model can be essentially converted into two HOFA subsystems. A nonlinear 3-DOF quadrotor modeling and control is applied as an example to demonstrate the effectiveness of the proposed approach, which can achieve arbitrarily assignable eigenstructure like a stabilized linear system.