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

In this paper, a dynamic quadrotor unmanned aircraft vehicle driven by bidirectional electronic speed controllers is proposed to enhance maneuverability and stability. Bidirectional electronic speed controllers are applied to achieve rapid deceleration of motors during flight. To match with bidirectional electronic speed controllers, fractional order Proportional-Integral-Derivative (PID) controllers are considered to attain better rapidity compared to PID controllers, and an innovative control allocation matrix with direction symbols is developed. The model, controllers, and allocation methods have been proven an effective scheme in simulations of attitude and position tracking.