Quadrotor Tracking Control: Design and Experiments

This paper proposes a design method for a two degrees-of-freedom tracking controller for a quadrotor to ensure trajectory following. The controller consists of two parts. A flatness-based feedforward controller ensures trajectory tracking of the undisturbed vehicle and a feedback controller composed of an altitude controller and a position and attitude controller in a cascaded structure compensates the tracking error due to disturbances and model uncertainties. The feedback controller is designed with the root locus method based on the linearized model of the quadrotor. Experiments are made in a testbed under windy conditions with a bounded windforce. The results show that the quadrotor with the proposed controller follows a given trajectory closely with small, bounded deviations, which can be estimated in advance with the model of the quadrotor.

[1]  Jan Lunze,et al.  Structural reconfigurability analysis of multirotor UAVs after actuator failures , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[2]  Holger Voos,et al.  Controller design for quadrotor UAVs using reinforcement learning , 2010, 2010 IEEE International Conference on Control Applications.

[3]  T. Madani,et al.  Adaptive Control via Backstepping Technique and Neural Networks of a Quadrotor Helicopter , 2008 .

[4]  Xiaochu Wu,et al.  Trajectory Tracking Control of Quadrotor UAV , 2018, 2018 37th Chinese Control Conference (CCC).

[5]  Nariman Sepehri,et al.  Attitude and position controller design and implementation for a quadrotor , 2017 .

[6]  Marco Lovera,et al.  Flatness-based control of a quadrotor helicopter via feedforward linearization , 2011, IEEE Conference on Decision and Control and European Control Conference.

[7]  A. I. Gavrilov,et al.  Designing and Modeling of Quadcopter Control System Using L1 Adaptive Control , 2017 .

[8]  Anthony Tzes,et al.  Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances , 2011 .

[9]  Joachim Rudolph,et al.  Quadrotor Tracking Control Based on a Moving Frame , 2013, NOLCOS.

[10]  Xiangyang Zhu,et al.  High-performance trajectory tracking control of a quadrotor with disturbance observer , 2014 .

[11]  Vijay Kumar,et al.  Minimum snap trajectory generation and control for quadrotors , 2011, 2011 IEEE International Conference on Robotics and Automation.

[12]  Dirk Abel,et al.  Flatness-based control for a quadrotor camera helicopter using model predictive control trajectory generation , 2016, 2016 24th Mediterranean Conference on Control and Automation (MED).

[13]  M. Kamran Joyo,et al.  LQR Based Controller Design for Altitude and Longitudinal Movement of Quad-rotor , 2016 .