Seah, Chee HweeInyang, Isonguyo J.Whidborne, James F.2018-01-182018-01-182018-01-11Seah CW, Inyang IJ, Whidborne JF. (2017) Bilinear modelling and attitude control of a quadrotor, IFAC-PapersOnLine, Volume 50, Issue 2, December 2017, pp. 193-1982405-8963http://dx.doi.org/10.1016/j.ifacol.2017.12.035https://dspace.lib.cranfield.ac.uk/handle/1826/12907The design of a bilinear controller for a quadrotor and its subsequent stability and performance are presented. A Carleman bilinearization technique is applied to the the nonlinear equations of motion of a quadrotor to obtain a bilinear model which is used as the basis for a bilinear PD controller design. For comparison purposes, a linear model of the quadrotor is also developed and used as the basis for PD controller design. Results for a transient simulation of the proposed BPD controller are presented and compared with that of the PD controller. The results show that the bilinear PD controller gives more improved responses over a broader operating range with respect to stability and performance compared to the PD controller.enAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/QuadrotorBilinear modellingAttitude controlBilinear PDArticle