Lyapunov-Based Tracking Control of a Bi-Rotor

This paper discusses the modeling and trajectory tracking control of a Bi-rotor. A novel class of vertical flight robots that can perform vertical takeoff, landing, and passenger transportation. Bi-rotor aircraft utilize a simplified mechanism compared to helicopters while maintaining the ability to perform complex maneuvers. With six degrees of freedom and four actuators, including two tilt actuators for steering and two propellers for thrust generation, they are classified as underactuated systems. The trajectory tracking controller employs a combination of feedback linearization and backstepping control methods, with an inner loop controlling the Euler angles and an outer loop regulating the Bi-rotor position and calculating desired angles for trajectory tracking. Control algorithms in the limited existing literature often rely on simplified mathematical models, which tend to overlook crucial nonlinear coupling terms. However, neglecting these terms can have significant implications for the dynamic behavior of the system. The dynamic modeling of the Bi-rotor aircraft was validated using the ADAMS software and integrated with the Simulink environment in MATLAB software. The obtained results represent the effectiveness of the proposed algorithm for the control of the Bi-rotor.