The control method of a quadrotor driven by bidirectional electronic speed controllers

Abstract

In this paper, a dynamic quadrotor unmanned aircraft vehicle driven by bidirectional electronic speed controllers is proposed to enhance maneuverability. Bidirectional electronic speed controllers are applied to achieve rapid deceleration or the inversion of motors during flight, thus compensating the maneuverability defects of underactuated system. Proportional-Integral-Derivative (PID) controllers are applied to attain control stability. And an exclusive control allocation matrix with direction symbols to match with bidirectional electronic speed controllers is proposed to achieve the mapping from thrust and torque to motor speed. Simulations are conducted, and it is demonstrated that the quadrotor with bidirectional electronic speed controllers attains rapidity and accuracy in attitude and position tracking.