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      • Department of Mechanical Engineering
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      Trajectory control of a quadrotor using a control allocation approach

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      Author
      Zaki, H.
      Ünel, M.
      Yıldız, Yıldıray
      Date
      2017
      Source Title
      Proceedings of the 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
      Publisher
      IEEE
      Pages
      533 - 539
      Language
      English
      Type
      Conference Paper
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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 optimization
      Nonlinear 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/11693/37624
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/ICUAS.2017.7991344
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      • Department of Mechanical Engineering 272
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