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Nonlinear feedback control of Quadrotors exploiting First-Order Drag Effects

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.
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https://hal.archives-ouvertes.fr/hal-01544740
Contributor : Guillaume Allibert <>
Submitted on : Sunday, June 25, 2017 - 10:29:29 PM
Last modification on : Thursday, March 5, 2020 - 12:20:45 PM
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Jean-Marie Kai, Guillaume Allibert, Minh-Duc Hua, Tarek Hamel. Nonlinear feedback control of Quadrotors exploiting First-Order Drag Effects. IFAC World Congress, Jul 2017, Toulouse, France. ⟨hal-01544740⟩

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