Nonlinear feedback control of Quadrotors exploiting First-Order Drag Effects
By Jean-Marie Kai, Guillaume Allibert, Minh-Duc Hua, Tarek Hamel. 2017
72 citations recorded by the source corpus.
Abstract We exploit the first-order aerodynamic effects for the feedback control of quadrotors in order to enhance the performance of the closed-loop system. We describe first the origin of these forces and then we show how the complexity of the system dynamics can be transformed by a change of control input into a simpler form, for which the classical hierarchical control approach (slightly modified here) can be applied. The simulation results illustrate the soundness of the proposed drag-augmented control scheme.
Subfields: Control and Systems Engineering, Electrical and Electronic Engineering, Statistical and Nonlinear Physics
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In Control and Systems Engineering
In Electrical and Electronic Engineering
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Citations in the corpus
- Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories (2017, methodology): “In [10] and [11], the presented position controller decomposes the rotor drag force into a component that is independent of the vehicle’s orientation and one along the thrust direction, which leads to an explicit expression for the desired thrust direction.”