Adaptive Backstepping Design and Flight Testing of a Multirotor Position Controller

Christoph Krammer; Guillermo P. Falconi; Florian Holzapfel

doi:10.23919/ACC55779.2023.10156118

Adaptive Backstepping Design and Flight Testing of a Multirotor Position Controller

Christoph Krammer
, Guillermo P. Falconi
, Florian Holzapfel

Chair of Flight System Dynamics

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The interest in multirotor systems has significantly increased over the last decade, with considerable further potential application scenarios in the future. Multiple adaptive control strategies have been developed to account for uncertainties and disturbances during operation. In this paper, we derive an adaptive backstepping position controller by utilizing the tuning functions methodology. This allows compensating for both matched and unmatched disturbances in the system. Asymptotic stability of the reference model is proved with Lyapunov's second method. The derived control laws are implemented and finally validated during flight tests with a hexacopter system.

Original language	English
Title of host publication	2023 American Control Conference, ACC 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2379-2386
Number of pages	8
ISBN (Electronic)	9798350328066
DOIs	https://doi.org/10.23919/ACC55779.2023.10156118
State	Published - 2023
Event	2023 American Control Conference, ACC 2023 - San Diego, United States Duration: 31 May 2023 → 2 Jun 2023

Publication series

Name	Proceedings of the American Control Conference
Volume	2023-May
ISSN (Print)	0743-1619

Conference

Conference	2023 American Control Conference, ACC 2023
Country/Territory	United States
City	San Diego
Period	31/05/23 → 2/06/23

Access to Document

10.23919/ACC55779.2023.10156118

Cite this

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title = "Adaptive Backstepping Design and Flight Testing of a Multirotor Position Controller",

abstract = "The interest in multirotor systems has significantly increased over the last decade, with considerable further potential application scenarios in the future. Multiple adaptive control strategies have been developed to account for uncertainties and disturbances during operation. In this paper, we derive an adaptive backstepping position controller by utilizing the tuning functions methodology. This allows compensating for both matched and unmatched disturbances in the system. Asymptotic stability of the reference model is proved with Lyapunov's second method. The derived control laws are implemented and finally validated during flight tests with a hexacopter system.",

author = "Christoph Krammer and Falconi, \{Guillermo P.\} and Florian Holzapfel",

note = "Publisher Copyright: {\textcopyright} 2023 American Automatic Control Council.; 2023 American Control Conference, ACC 2023 ; Conference date: 31-05-2023 Through 02-06-2023",

year = "2023",

doi = "10.23919/ACC55779.2023.10156118",

language = "English",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2379--2386",

booktitle = "2023 American Control Conference, ACC 2023",

}

Krammer, C, Falconi, GP & Holzapfel, F 2023, Adaptive Backstepping Design and Flight Testing of a Multirotor Position Controller. in 2023 American Control Conference, ACC 2023. Proceedings of the American Control Conference, vol. 2023-May, Institute of Electrical and Electronics Engineers Inc., pp. 2379-2386, 2023 American Control Conference, ACC 2023, San Diego, United States, 31/05/23. https://doi.org/10.23919/ACC55779.2023.10156118

Adaptive Backstepping Design and Flight Testing of a Multirotor Position Controller. / Krammer, Christoph; Falconi, Guillermo P.; Holzapfel, Florian.
2023 American Control Conference, ACC 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 2379-2386 (Proceedings of the American Control Conference; Vol. 2023-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Krammer, Christoph

AU - Falconi, Guillermo P.

AU - Holzapfel, Florian

PY - 2023

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N2 - The interest in multirotor systems has significantly increased over the last decade, with considerable further potential application scenarios in the future. Multiple adaptive control strategies have been developed to account for uncertainties and disturbances during operation. In this paper, we derive an adaptive backstepping position controller by utilizing the tuning functions methodology. This allows compensating for both matched and unmatched disturbances in the system. Asymptotic stability of the reference model is proved with Lyapunov's second method. The derived control laws are implemented and finally validated during flight tests with a hexacopter system.

AB - The interest in multirotor systems has significantly increased over the last decade, with considerable further potential application scenarios in the future. Multiple adaptive control strategies have been developed to account for uncertainties and disturbances during operation. In this paper, we derive an adaptive backstepping position controller by utilizing the tuning functions methodology. This allows compensating for both matched and unmatched disturbances in the system. Asymptotic stability of the reference model is proved with Lyapunov's second method. The derived control laws are implemented and finally validated during flight tests with a hexacopter system.

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U2 - 10.23919/ACC55779.2023.10156118

DO - 10.23919/ACC55779.2023.10156118

M3 - Conference contribution

AN - SCOPUS:85167820755

T3 - Proceedings of the American Control Conference

SP - 2379

EP - 2386

BT - 2023 American Control Conference, ACC 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 American Control Conference, ACC 2023

Y2 - 31 May 2023 through 2 June 2023

ER -

Adaptive Backstepping Design and Flight Testing of a Multirotor Position Controller

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