Stabilization of a Quadrotor via Energy Shaping

TL;DR

This paper introduces a novel 3D energy shaping control method for quadrotor stabilization using IDA-PBC, extending PDE solutions from 2D to 3D, and verifies effectiveness through simulation.

Contribution

It presents the first 3D energy shaping controller for quadrotors, advancing stabilization techniques for underactuated aerial vehicles without cascade controllers.

Findings

Successful extension of PDE solutions from 2D to 3D for quadrotor control

Effective stabilization demonstrated via simulation

Advancement in energy shaping control for underactuated vehicles

Abstract

Stabilization of a quadrotor without a controller based on cascade structure is a challenging problem. Besides, due to the dynamics and the number of underactuation, an energy shaping controller has not been designed in 3D for a quadrotor. This paper presents a novel solution to the potential energy shaping problem for a quadrotor utilizing the Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) approach. For the first time, we extend the solution of PDEs from the 2D case to the full 3D scenario. This advancement seems to be a significant step forward for stabilization of underactuated aerial vehicles without a cascade controller. The results are verified via simulation on a typical quadrotor.