Flatness-Based Control In Successive Loops For Autonomous Quadrotors

Gerasimos Rigatos, Masoud Abbaszadeh, Krishna Busawon, Laurent Dala, Jorge Pomares, Farouk Zouari

Research output: Contribution to journalArticlepeer-review


The control problem for the multivariable and nonlinear dynamics of unmanned rotorcrafts is treated with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of 6-DOF autonomous quadrotors is separated into two subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input-output linearized flat systems. The state variables of the second subsystem become virtual control inputs for the first subsystem. In turn, exogenous control inputs are applied to the second subsystem. The whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is further confirmed through simulation experiments showing precise tracking of 3D flight paths by the 6-DOF quadrotor.
Original languageEnglish
Pages (from-to)1-19
Number of pages19
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Early online date30 Oct 2023
Publication statusE-pub ahead of print - 30 Oct 2023

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