Authors:
Rodrigo Coelho
1
;
Alexandra Moutinho
2
and
José Raul Azinheira
2
Affiliations:
1
Instituto Superior Técnico and Universidade de Lisboa, Portugal
;
2
IDMEC, Instituto Superior Técnico and Universidade de Lisboa, Portugal
Keyword(s):
Incremental Nonlinear Dynamics Inversion, Quadrotor, Attitude Control, Sensor-based Control.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Information-Based Models for Control
;
Mobile Robots and Autonomous Systems
;
Nonlinear Signals and Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
Given the large flight envelope of vertical take-off and landing vehicles, and the nonlinear nature of multi-rotor aircraft, especially in aggressive maneuvering, nonlinear control strategies are often considered. Yet, most available solutions are model dependent and thus require a precise knowledge of the system dynamics, including the hard to model aerodynamics. This paper proposes a sensor-based approach to the problem. It considers a recent strategy based on incremental control and Nonlinear Dynamics Inversion (NDI), the Incremental Nonlinear Dynamics Inversion (INDI), to solve the attitude control problem of quadrotors. The INDI general formulation is presented, and then applied considering the attitude stabilization of a quadrotor. In order to apply the INDI solution to this case study, a linear predictor for the angular acceleration is provided. Simulation results demonstrate the robustness of this sensor-based approach to model-parameter uncertainties and wind disturbances. A
n analysis is also done regarding the tuning of INDI parameters and its sensitivity to the chosen sampling time.
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