Design and experimental validation of IDA-PBC-based flight control for quadrotors

摘要

Abstract This paper presents the design and experimental validation of a robust flight control strategy for quadrotor unmanned aerial vehicles (UAVs) based on the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) methodology. The proposed approach is specifically tailored to the Parrot Bebop 2, a commercial UAV. The IDA-PBC control law is derived using the Hamiltonian model of the UAV dynamics obtained from experimental data to represent the dynamics of all six degrees of freedom, including translational and rotational motions. The control strategy was validated through numerical simulations and experimental tests conducted in an indoor flight setup using MATLAB, Robot Operating System, and an OptiTrack motion capture system. Numerical and experimental results demonstrate that the controller effectively tracks desired flight trajectories, ensuring stable and robust performance.