Abstract

Quadrotors have been more frequently used in different areas, from aerial photography to drug delivery in medical emergencies. These vehicles have high maneuverability, which makes them suitable for carrying out missions that humans would not be able to do due to physical constraints. They can be used in inhospitable environments where the physical integrity and health of humans would be compromised. However, they are highly nonlinear and multivariable systems whose dynamics are strongly coupled. These characteristics turn attitude control design into a complex task. Furthermore, the controller has to be able to deal with uncertainties and exogenous disturbances in practice, intensifying the difficulty of the control problem. Therefore, a quadrotor attitude control must have high robustness and fast response without compromising its global stability. Aiming to gather solutions to this control problem, this article provides a detailed and in-depth discussion on quadrotor attitude control strategies for flight control designers, including angular representation, controller stability, fault tolerance, actuator saturation, and strategies for exogenous disturbance rejection.

中文翻译：

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四旋翼飞行器姿态控制策略综述

摘要

四旋翼飞行器已更频繁地用于不同领域，从航空摄影到医疗紧急情况下的药物输送。这些车辆具有很高的机动性，这使得它们适合执行人类由于物理限制而无法完成的任务。它们可以用于恶劣的环境，人类的身体完整性和健康会受到损害。然而，它们是高度非线性和多变量系统，其动力学是强耦合的。这些特征使姿态控制设计成为一项复杂的任务。此外，控制器必须能够处理实际中的不确定性和外源干扰，这加剧了控制问题的难度。因此，四旋翼飞行器姿态控制必须具有高鲁棒性和快速响应，同时又不影响其全局稳定性。为了收集该控制问题的解决方案，本文为飞行控制设计人员提供了有关四旋翼飞行器姿态控制策略的详细而深入的讨论，包括角度表示、控制器稳定性、容错、执行器饱和和外源干扰抑制策略。