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

Published online by Cambridge University Press:  18 June 2025

Jesús-Renato Montoya-Morales Open the ORCID record for Jesús-Renato Montoya-Morales [Opens in a new window] ,
María-Eusebia Guerrero-Sánchez Open the ORCID record for María-Eusebia Guerrero-Sánchez [Opens in a new window] ,
Guillermo Valencia-Palomo Open the ORCID record for Guillermo Valencia-Palomo [Opens in a new window] ,
Omar Hernández-González Open the ORCID record for Omar Hernández-González [Opens in a new window] ,
Francisco-Ronay López-Estrada Open the ORCID record for Francisco-Ronay López-Estrada [Opens in a new window]  and
Luis C. Félix-Herrán Open the ORCID record for Luis C. Félix-Herrán [Opens in a new window]
Jesús-Renato Montoya-Morales
Affiliation:
Tecnológico Nacional de México, IT de Hermosillo, Hermosillo 83170, Mexico
María-Eusebia Guerrero-Sánchez
Affiliation:
Tecnológico Nacional de México, IT de Hermosillo, Hermosillo 83170, Mexico IIxM SECIHTI-Tecnológico Nacional de México, IT Hermosillo, Hermosillo 83170, Mexico
Guillermo Valencia-Palomo*
Affiliation:
Tecnológico Nacional de México, IT de Hermosillo, Hermosillo 83170, Mexico
Omar Hernández-González
Affiliation:
Tecnológico Nacional de México, IT de Hermosillo, Hermosillo 83170, Mexico
Francisco-Ronay López-Estrada
Affiliation:
TURIX-Dynamics Diagnosis and Control Group, Tecnológico Nacional de México, IT Tuxtla Gutiérrez, Tuxtla Gutierrez 29050, Mexico
Luis C. Félix-Herrán
Affiliation:
School of Engineering and Sciences, Tecnológico de Monterrey, Hermosillo 83000, Mexico
*
Corresponding author: Guillermo Valencia-Palomo; Email: gvalencia@hermosillo.tecnm.mx
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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.

Keywords

IDA-PBCUAVport-Hamilton controllerParrot Bebop 2experimental tests
Type
Research Article
Information
Robotica , First View , pp. 1 - 22
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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