Passivity Based Control of a Quadrotor UAV

Abstract This work presents an IDA-PBC control methodology for a quadrotor helicopter to perform path tracking. The control law is designed considering the trajectory tracking formulation for underactuated systems. The goal is to regulate the controlled degrees of freedom (DOF), the translational position, x, y and z, and the yaw angle, ψ, and stabilize the remaining DOF, the roll and pitch angles, ϕ and θ, respectively, using only one control loop. This formulation leads to a set of partial differential equations constraints due to the underactuation degree of the system. The IDA-PBC controller performance is corroborated through simulation results, being compared with a backstepping controller.

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