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<p>The bi-copter features a compact structural layout and energy-efficient drive configuration, enabling it to perform tasks that some quadrotors cannot handle. However, research on control methods for bi-copters remains underdeveloped. The system’s inherent non-minimum phase characteristics, underactuated nature, and nonlinearity make attitude control particularly challenging. In this study, a robust attitude controller based on the three-dimensional special orthogonal group (SO(3)) is designed for the bi-copter. The proposed controller enables the aircraft to track attitude signals with inter-axis coupling and rapid variations, while also offering disturbance rejection capabilities. The stability of the controller has been demonstrated, and its effectiveness validated through both simulations and prototype testing. This more comprehensive control strategy expands the bi-copter’s feasible attitude range beyond the vicinity of hover, thereby broadening its potential applications.</p>

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Robust Attitude Controller Design for Bi-copter on SO(3)

  • 期刊论文

  • 发表日期：

    2025年10月16日

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  • Tianyou Mao,
  • Bosong Duan,
  • Chuangqiang Guo

摘要

The bi-copter features a compact structural layout and energy-efficient drive configuration, enabling it to perform tasks that some quadrotors cannot handle. However, research on control methods for bi-copters remains underdeveloped. The system’s inherent non-minimum phase characteristics, underactuated nature, and nonlinearity make attitude control particularly challenging. In this study, a robust attitude controller based on the three-dimensional special orthogonal group (SO(3)) is designed for the bi-copter. The proposed controller enables the aircraft to track attitude signals with inter-axis coupling and rapid variations, while also offering disturbance rejection capabilities. The stability of the controller has been demonstrated, and its effectiveness validated through both simulations and prototype testing. This more comprehensive control strategy expands the bi-copter’s feasible attitude range beyond the vicinity of hover, thereby broadening its potential applications.