2021
DOI: 10.3390/s21072387
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Velocity-Free Attitude Control of Quadrotors: A Nonlinear Negative Imaginary Approach

Abstract: In this paper, we propose a new approach to the attitude control of quadrotors, by which angular velocity measurements or a model-based observer reconstructing the angular velocity are not needed. The proposed approach is based on recent stability results obtained for nonlinear negative imaginary systems. In specific, through an inner-outer loop method, we establish the nonlinear negative imaginary property of the quadrotor rotational subsystem. Then, a strictly negative imaginary controller is synthesized usi… Show more

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