Trajectory control of a quadrotor using a control allocation approach

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dc.citation.epage539en_US
dc.citation.spage533en_US
dc.contributor.authorZaki, H.en_US
dc.contributor.authorÜnel, M.en_US
dc.contributor.authorYıldız, Yıldırayen_US
dc.coverage.spatialMiami, FL, USAen_US
dc.date.accessioned2018-04-12T11:46:03Z
dc.date.available2018-04-12T11:46:03Z
dc.date.issued2017en_US
dc.departmentDepartment of Mechanical Engineeringen_US
dc.descriptionDate of Conference: 13-16 June 2017en_US
dc.descriptionConference Name: 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017en_US
dc.description.abstractA 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.en_US
dc.description.provenanceMade available in DSpace on 2018-04-12T11:46:03Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 179475 bytes, checksum: ea0bedeb05ac9ccfb983c327e155f0c2 (MD5) Previous issue date: 2017en
dc.identifier.doi10.1109/ICUAS.2017.7991344en_US
dc.identifier.urihttp://hdl.handle.net/11693/37624
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ICUAS.2017.7991344en_US
dc.source.titleProceedings of the 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017en_US
dc.subjectConstrained optimizationen_US
dc.subjectNonlinear programmingen_US
dc.subjectNumerical methodsen_US
dc.subjectUnmanned aerial vehicles (UAV)en_US
dc.subjectAnalytical and numerical methodsen_US
dc.subjectConstant valuesen_US
dc.subjectControl allocationen_US
dc.subjectControl allocation problemen_US
dc.subjectNon-linear optimizationen_US
dc.subjectRate constraintsen_US
dc.subjectTrajectory controlen_US
dc.subjectVirtual controlen_US
dc.subjectLow pass filtersen_US
dc.titleTrajectory control of a quadrotor using a control allocation approachen_US
dc.typeConference Paperen_US

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