Novel Dynamic Inversion Architecture Design for Quadrocopter Control

Wang, Jian; Bierling, Thomas; Höcht, Leonhard; Holzapfel, Florian; Klose, Sebastian; Knoll, Alois

doi:10.1007/978-3-642-19817-5_21

Cited by 18 publications

(16 citation statements)

References 3 publications

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“…This lets us apply well known and understood linear control system techniques [12], [1], and it furthermore facilitates trajectory generation. We define pseudo control commands u for the linear system, which we finally turn into control commands available from the vehicle.…”

Section: A Direct Rate Controlmentioning

confidence: 99%

“…Also, depending on F , each rotor creates a torque M around its zaxis: M = k m ·F , where k m is again a rotor constant [1]. We assume that the moment of inertia matrix I of the helicopter has only diagonal entries.…”

Section: Inner Loop and Control Allocationmentioning

confidence: 99%

“…al [1], this paper describes a two-loop controller design for rotor-based MAVs which is based on nonlinear dynamic inversion. Recently, Mellinger and Kumar showed in [2] that a quadcopter is only differentially flat on four outputs, namely position and yaw.…”

Section: Introductionmentioning

confidence: 99%

“…Drawing inspiration by [1] and [2] the contributions of this work are the following. We extend the two-loop design proposed in [1] and adapt it to our vehicle with the given control inputs.…”

Section: Introductionmentioning

confidence: 99%

“…We extend the two-loop design proposed in [1] and adapt it to our vehicle with the given control inputs. We show how to implement the low level rate control loop for a hexacopter and how we can estimate vehicle-specific parameters, such as the moment of inertia and propeller constants.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Inversion based direct position control and trajectory following for micro aerial vehicles

Achtelik¹,

Lynen²,

Chli³

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this work, we present a powerful, albeit simple position control approach for Micro Aerial Vehicles (MAVs) targeting specifically multicopter systems. Exploiting the differential flatness of four of the six outputs of multicopters, namely position and yaw, we show that the remaining outputs of pitch and roll need not be controlled states, but rather just need to be known. Instead of the common approach of having multiple cascaded control loops (position -velocityacceleration/attitude -angular rates), the proposed method employs an outer control loop based on dynamic inversion, which directly commands angular rates and thrust. The inner control loop then reduces to a simple proportional controller on the angular rates. As a result, not only does this combination allow for higher bandwidth compared to common control approaches, but also eliminates many mathematical operations (only one trigonometric function is called), speeding up the necessary processing especially on embedded systems. This approach assumes a reliable state estimation framework, which we are able to provide with through previous work. As a result, with this work, we provide the missing elements necessary for a complete approach on autonomous navigation of MAVs.

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Section: A Direct Rate Controlmentioning

confidence: 99%

Section: Inner Loop and Control Allocationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Inversion based direct position control and trajectory following for micro aerial vehicles

Achtelik¹,

Lynen²,

Chli³

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Cable-suspended load lifting by a quadrotor UAV: hybrid model, trajectory generation, and control

Cruz

Fierro

2017

Auton Robot

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Asymptotic tracking position control with active oscillation damping of a multibody Mars vehicle using two artificial augmentation approaches

2021

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The Valles Marineris Explorer Cooperative Swarm navigation, Mission and Control research project aims to explore the Valles Marineris canyon system on Mars with, among others, multibody rotary-wing unmanned aerial vehicles (UAVs) comprising of a hexrotor system and a helium-filled balloon being attached to it by means of a rope. In this paper, we develop a high-fidelity closed-loop control system in MATLAB® and Simulink™ to present the application of an adequate flight controller guaranteeing (1) asymptotic tracking position control of the multibody flight system, (2) suppression of the balloon’s swinging motion in forward flight case, and (3) stabilization of the rope angle around its equilibrium for steady-state conditions. Applying feedback linearization for the outer loop and analytical backstepping for the inner loop of a nonlinear cascaded control design model of the hexrotor system, we propose an extension of the baseline flight controller by two artificial augmentation approaches to cope with the balloon dynamics. Basically, by utilizing oscillation damping feedbacks of the uncertain plant which are applied as additional commands to either the inner or the outer loop’s reference model. Simulation results are presented for an eight-shaped flight maneuver at the bottom of Valles Marineris proving that the augmentation units increase the flight controller capabilities to suppress modeling errors artificially—without changing the baseline control laws. The augmentation units actively damp the balloon motion in the forward flight case for non-steady-state conditions to counteract the rope oscillations and finally stabilize the rope angle around its equilibrium, so that the Mars vehicle is able to reach a steady-state in position when its extraterrestrial mission profile is successfully completed.

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Novel Dynamic Inversion Architecture Design for Quadrocopter Control

Cited by 18 publications

References 3 publications

Inversion based direct position control and trajectory following for micro aerial vehicles

Inversion based direct position control and trajectory following for micro aerial vehicles

Cable-suspended load lifting by a quadrotor UAV: hybrid model, trajectory generation, and control

Asymptotic tracking position control with active oscillation damping of a multibody Mars vehicle using two artificial augmentation approaches

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