Robust Tuning of Geometric Attitude Controllers for Multirotor Unmanned Aerial Vehicles

Invernizzi, Davide; Panza, Simone; Lovera, Marco

doi:10.2514/1.g004457

Cited by 10 publications

(5 citation statements)

References 30 publications

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“…The expression in (22) can be written in compact form using the relation γℓ = (1 − 𝑞)𝛾 𝑎 ℓ + 𝑞𝛾 𝑏 ℓ as…”

Section: Position Controlmentioning

confidence: 99%

“…Using a convex multi-objective filter optimization method, the authors in [21] discussed an optimal L 1 adaptive controller. A robust tuning method for geometric attitude controller of multirotor UAVs was discussed in [22]. The controller gains were obtained by linearizing the dynamics around an operating point together with structured 𝐻 ∞ controller synthesis.…”

Section: Introductionmentioning

confidence: 99%

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Finite-Time Convergent Robust Trajectory Tracking for Unmanned Aerial Vehicles

Kumar

2022

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

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This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider spatial constraints, the proposed strategy considers spatial constraints on each degree of freedom movement of the UAV. Such consideration makes the design appealing for many practical applications, such as pipeline inspection, boundary tracking, etc. The proposed design accounts for the limited information about the inertia matrix, thereby affirming its inherent robustness against unmodeled dynamics and other imperfections. We rigorously show that the UAV will converge to its desired path by maintaining bounded position, orientation, and linear and angular speeds. Finally, we demonstrate the effectiveness of the proposed strategy through various numerical simulations.

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“…The expression in (22) can be written in compact form using the relation γℓ = (1 − 𝑞)𝛾 𝑎 ℓ + 𝑞𝛾 𝑏 ℓ as…”

Section: Position Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Finite-Time Convergent Robust Trajectory Tracking for Unmanned Aerial Vehicles

Kumar

2022

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…The onboard autopilot, based on the open-source PX4 Pro firmware [8], features attitude and position controllers and estimators and has been customized using the ANT-X rapid prototyping system for multirotor control [15] to allow replacing the baseline attitude controller with user-defined controllers. The baseline control gains have been tuned using a structured H ∞ approach as detailed in [16] to achieve high performance in near hovering conditions.…”

Section: B Platform Descriptionmentioning

confidence: 99%

“…To apply the AW techniques described in Section IV-B, both a baseline controller and a discrete-time state-space model of the attitude dynamics must be available. Following previous work on the same quadrotor [16], a second-order black-box model of the UAV pitch angular rate dynamics was identified with the PBSID subspace model identification algorithm using closed-loop experimental data [14].…”

Section: B Platform Descriptionmentioning

confidence: 99%

Fixed-Dynamics Antiwindup Design: Application to Pitch-Limited Position Control of Multirotor Unmanned Aerial Vehicles

Ghignoni

Invernizzi

Lovera

2021

IEEE Trans. Contr. Syst. Technol.

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In this paper we present and validate an anti-windup control design suitable to deal with saturated discrete-time linear plants. Following the modern approach to anti-windup design, the proposed synthesis procedure is based on the compensator paradigm in which the anti-windup controller acts on top of a baseline one, tuned to achieve desirable performance in the unsaturated regime. After extending existing ideas for continuoustime plants to their discrete-time counterparts, the design of the anti-windup compensator is carried out with a focus on computational efficiency and optimized performance in practical operating scenarios. The proposed approach allows one to design fixed-dynamics anti-windup compensators for possibly open-loop unstable plants using generalized sector conditions. Then, the synthesis procedure is applied to tune a fixed-dynamics compensator having the structure of a static compensator cascaded with a unit delay to avoid algebraic loops. Finally, the benefits of such anti-windup augmentation are assessed experimentally to counteract windup effects arising in the position control of multirotor UAVs when pitch limitations are imposed.

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“…The PD parameters (2b/r, 2a/r) can be chosen using any tuning method and then checked for the condition (4.14) which is quite easy to satisfy. Linearized model of the attitude dynamics can be especially helpful in fully exploiting the powerful frequency response methods and especially structured H ∞ control design methods, see [22] for details. Once the linear design, having adequate performance and robustness properties, has been finalized, the condition (4.14) can be checked to guarantee almost-global disturbance rejection properties as stipulated in Theorem 5.…”

Section: Tuning Guidelinesmentioning

confidence: 99%

$H_{\infty}$ Inverse Optimal Attitude Tracking on the Special Orthogonal Group $SO(3)$

Aslam,

Haydar

2021

Preprint

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The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and L 2 disturbance attenuation. Conditions are provided which solve the inverse optimal nonlinear H ∞ control problem by minimizing a meaningful cost function. The approach guarantees that the energy gain from an exogenous disturbance to a specified error signal respects a given upper bound. For numerical simulations, a simple problem setup from literature is considered and results demonstrate competitive performance.

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Robust Tuning of Geometric Attitude Controllers for Multirotor Unmanned Aerial Vehicles

Cited by 10 publications

References 30 publications

Finite-Time Convergent Robust Trajectory Tracking for Unmanned Aerial Vehicles

Finite-Time Convergent Robust Trajectory Tracking for Unmanned Aerial Vehicles

Fixed-Dynamics Antiwindup Design: Application to Pitch-Limited Position Control of Multirotor Unmanned Aerial Vehicles

$H_{\infty}$ Inverse Optimal Attitude Tracking on the Special Orthogonal Group $SO(3)$

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