On Negotiating Aggressive Quadrotor Attitude Tracking Maneuvers Under Actuator Constraints

Ramp, Michalis; Papadopoulos, Evangelos

dc.contributor.author	Ramp, Michalis
dc.contributor.author	Papadopoulos, Evangelos
dc.date.accessioned	2022-09-06T12:35:45Z
dc.date.available	2022-09-06T12:35:45Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/55603
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.23301
dc.rights	Default License
dc.subject	Nonholonomic Unmanned Aerial Vehicles	en
dc.title	On Negotiating Aggressive Quadrotor Attitude Tracking Maneuvers Under Actuator Constraints	en
heal.type	conferenceItem
heal.classification	Geometric Control	en
heal.contributorName	Ramp, Michalis
heal.contributorName	Papadopoulos, Evangelos
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2018-08-23
heal.bibliographicCitation	M. Ramp and E. Papadopoulos, "On Negotiating Aggressive Quadrotor Attitude Tracking Maneuvers Under Actuator Constraints," 2018 26th Mediterranean Conference on Control and Automation (MED), 2018, pp. 759-764, doi: 10.1109/MED.2018.8443034.	en
heal.abstract	The quadrotor task of negotiating aggressive attitude maneuvers while adhering to motor constraints is addressed here. The majority of high level quadrotor Nonlinear Control Systems (NCS) ignore motor control authority limitations, especially important during aggressive attitude maneuvers, generating unrealizable thrusts and negating the validity of the accompanying stability proofs. Here, an attitude control framework is developed, comprised by a thrust allocation strategy and a specially designed geometric attitude tracking controller, allowing the quadrotor to achieve aggressive attitude maneuvers, while complying to actuator constraints and simultaneously staying “close” to a desired position command in a computationally inexpensive way. This is a novel contribution resulting in thrusts realizable by available quadrotors during aggressive attitude maneuvers, and enhanced performance guaranteed by valid stability proofs. Also, it is shown that the developed controller can be combined with a collective thrust expression in producing a position/yaw tracking controller. Through rigorous stability proofs, both the position and attitude frameworks are shown to have desirable closed loop properties that are almost global. This establishes a quadrotor control solution allowing the vehicle to negotiate aggressive maneuvers position/attitude on SE(3). Simulations validate the effectiveness/capabilities of the developed solution.	en
heal.publisher	IEEE	en
heal.fullTextAvailability	false
heal.conferenceName	Mediterranean Conference on Control and Automation (MED)	en
heal.conferenceItemType	full paper