Cascaded model-free control for trajectory tracking of quadrotors

Maria Bekcheva (1) , Cédric Join (2) , Hugues Mounier (1)

1 L2S - Laboratoire des signaux et systèmes
2 CRAN - Centre de Recherche en Automatique de Nancy

In the subject of quadrotor controller design, usually modelling and identification are tedious and time-consuming tasks. In this study, we propose a controller design that avoids the quadrotor's system identification procedures while staying robust with respect to endogenous and exogenous disturbances. To reach our goal, based on the cascaded structure of a quadrotor, we divide the system into positional and attitude subsystems each controlled by an independent model-free controller. We validate our control approach in two realistic scenarios : in presence of unknown measurement noise and unknown time-varying wind disturbances. We provide simulations on a realistic nonlinear quadrotor model following an aggressive position-yaw trajectory.

Domaines: Automatique / Robotique

Maria Bekcheva, Cédric Join, Hugues Mounier. Cascaded model-free control for trajectory tracking of quadrotors. International Conference on Unmanned Aircraft Systems, ICUAS'18, Jun 2018, Dallas, TX, United States. ⟨10.1109/icuas.2018.8453339⟩. ⟨hal-01831468⟩