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Volume 14
Issue 10
10.3390/act14100509
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Robust Attitude Stabilization of Rigid Bodies Based on Control Lyapunov Function: Experimental Verification on a Quadrotor Testbed

by
Yasuyuki Satoh
1,* and
Kota Ohno
2
1
Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo 120-8551, Japan
2
Department of Electrical Engineering, Tokyo University of Science, Tokyo 125-8585, Japan
*
Author to whom correspondence should be addressed.
Actuators 2025, 14(10), 509; https://doi.org/10.3390/act14100509
Submission received: 30 August 2025 / Revised: 11 October 2025 / Accepted: 15 October 2025 / Published: 20 October 2025
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
Versions Notes

Abstract

The robust stabilization of the attitude of quadrotors with respect to disturbance torques is a fundamental and crucial control problem in many unmanned aerial vehicle (UAV) applications. For this problem, a control Lyapunov function (CLF)-based robust adaptive control was previously proposed by the authors, and its effectiveness was confirmed through numerical simulations. In this article, we tackle the experimental verification of this controller. We first construct a quadrotor testbed equipped with the self-developed flight controller. Then, we implement the proposed robust adaptive controller and perform flight experiments. According to the results of comparative experiments using a PID-type controller and a non-robust controller, we demonstrate the effectiveness of the proposed controller.
Keywords: unmanned aerial vehicle (UAV); quad rotor; attitude control; robust control; adaptive control; disturbance attenuation; control Lyapunov function (CLF); input-to-state stability (ISS); unit quaternion unmanned aerial vehicle (UAV); quad rotor; attitude control; robust control; adaptive control; disturbance attenuation; control Lyapunov function (CLF); input-to-state stability (ISS); unit quaternion

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MDPI and ACS Style

Satoh, Y.; Ohno, K. Robust Attitude Stabilization of Rigid Bodies Based on Control Lyapunov Function: Experimental Verification on a Quadrotor Testbed. Actuators 2025, 14, 509. https://doi.org/10.3390/act14100509

AMA Style

Satoh Y, Ohno K. Robust Attitude Stabilization of Rigid Bodies Based on Control Lyapunov Function: Experimental Verification on a Quadrotor Testbed. Actuators. 2025; 14(10):509. https://doi.org/10.3390/act14100509

Chicago/Turabian Style

Satoh, Yasuyuki, and Kota Ohno. 2025. "Robust Attitude Stabilization of Rigid Bodies Based on Control Lyapunov Function: Experimental Verification on a Quadrotor Testbed" Actuators 14, no. 10: 509. https://doi.org/10.3390/act14100509

APA Style

Satoh, Y., & Ohno, K. (2025). Robust Attitude Stabilization of Rigid Bodies Based on Control Lyapunov Function: Experimental Verification on a Quadrotor Testbed. Actuators, 14(10), 509. https://doi.org/10.3390/act14100509

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