Trajectory control of a quadrotor using a control allocation approach
Author
Zaki, H.
Ünel, M.
Yıldız, Yıldıray
Date
2017Source Title
Proceedings of the 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Publisher
IEEE
Pages
533 - 539
Language
English
Type
Conference PaperItem Usage Stats
162
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158
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Abstract
A quadrotor is an underactuated unmanned aerial vehicle with four inputs to control the dynamics. Trajectory control of a quadrotor is a challenging task and usually tackled in a hierarchical framework where desired/reference attitude angles are analytically determined from the desired command signals, i.e. virtual controls, that control the positional dynamics of the quadrotor and the desired yaw angle is set to some constant value. Although this method is relatively straightforward, it may produce large and nonsmooth reference angles which must be saturated and low-pass filtered. In this work, we show that the determination of desired attitude angles from virtual controls can be viewed as a control allocation problem and it can be solved numerically using nonlinear optimization where certain magnitude and rate constraints can be imposed on the desired attitude angles and the yaw angle need not be constant. Simulation results for both analytical and numerical methods have been presented and compared. Results for constrained optimization show that the flight performance is quite satisfactory.
Keywords
Constrained optimizationNonlinear programming
Numerical methods
Unmanned aerial vehicles (UAV)
Analytical and numerical methods
Constant values
Control allocation
Control allocation problem
Non-linear optimization
Rate constraints
Trajectory control
Virtual control
Low pass filters
Permalink
http://hdl.handle.net/11693/37624Published Version (Please cite this version)
http://dx.doi.org/10.1109/ICUAS.2017.7991344Collections
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