High velocity path control of quadrotors

Jian Wang, Thomas Raffler, Florian Holzapfel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This paper presents a new structure for path following control that allows multirotor UAVs to fly on predefined paths with high velocity. The goal is to maximize the control bandwidth of the quadrotor, yet with good robustness against actuator saturation, model uncertainties and aerodynamic disturbances at high velocity. The suggested control approach is composed of a path-based reference model with in-flight adjustable path velocity and a Nonlinear Dynamic Inversion (NDI) trajectory controller with L1 adaptive augmentation. In previous control designs, only up to the second derivative of the path reference (i.e. reference acceleration) is used in the feedforward control. The suggested NDI control structure enables feedforward control of the third order derivative of the reference trajectory (i.e. reference angular rate of quadrotor), so that the control bandwidth can be improved. Yaw rotation remains as an additional degree of freedom. Experimental flight tests are performed on a quadrotor with GPS receiver and low cost inertial sensors for state estimation. They demonstrate high velocity path following in the presence of thrust saturation, external disturbances and modeling uncertainties.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Electronic)9781510801097
StatePublished - 2015
EventAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015 - Kissimmee, United States
Duration: 5 Jan 20159 Jan 2015

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015

Conference

ConferenceAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
Country/TerritoryUnited States
CityKissimmee
Period5/01/159/01/15

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