Cascaded model-free control for trajectory tracking of quadrotors

Abstract : 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.
Type de document :
Communication dans un congrès
International Conference on Unmanned Aircraft Systems, ICUAS'18, Jun 2018, Dallas, TX, United States. 2018, 〈10.1109/icuas.2018.8453339 〉
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https://hal.archives-ouvertes.fr/hal-01831468
Contributeur : Didier Maquin <>
Soumis le : jeudi 5 juillet 2018 - 20:51:41
Dernière modification le : mercredi 21 novembre 2018 - 16:47:03

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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. 2018, 〈10.1109/icuas.2018.8453339 〉. 〈hal-01831468〉

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