Feedback Linearization with Zero Dynamics Stabilization for Quadrotor Control
- PDF / 2,021,809 Bytes
- 17 Pages / 595.224 x 790.955 pts Page_size
- 23 Downloads / 239 Views
Feedback Linearization with Zero Dynamics Stabilization for Quadrotor Control Lu´ıs Martins1
· Carlos Cardeira1 · Paulo Oliveira2
Received: 10 March 2020 / Accepted: 23 September 2020 © Springer Nature B.V. 2020
Abstract A control solution for an Unmanned Aerial Vehicle encapsulating a nonlinear inner-loop based on the application of feedback linearization to the attitude and altitude dynamics is proposed in this paper. Linear quadratic controllers with integrative action are implemented not only to the resulting inner-loop chain of integrators, but also to the outer-loop, that controls the horizontal movement and, consequently, stabilizes the zero-dynamics. The required full state-feedback relies on measurements from motion sensors and on-flight estimates provided by Kalman filters and a nonlinear attitude filter. In simulation, the capacity of trajectory tracking and withstanding significant deviations of the mass and inertia values of the proposed control structure are evaluated while considering saturation and noisy measurements. The simulations results were experimentally validated using a commercially available drone. The modeling and control system architecture are validated by the experimental results. Additionally, a comparison with the results achieved with a linear control solution developed in a previous work is drawn. Keywords Autonomous vehicles · Nonlinear control systems · Non-interacting control · Optimal control
1 Introduction Throughout the years, an intensive study on the topic of drones has been conducted by the research community once these aerial vehicles are characterized for their mechanical simplicity and are fast-prototyping devices, which constitutes them as an excellent tool for testing innovative control techniques and designs. On the one hand, the reduced size of these vehicles, besides the clear advantages, poses serious difficulties. The Lu´ıs Martins
[email protected] Carlos Cardeira [email protected] Paulo Oliveira [email protected] 1
IDMEC—Institute of Mechanical Engineering, Instituto Superior T´ecnico, Universidade de Lisboa, Lisboa, 1049-001, Portugal
2
IDMEC — Institute of Mechanical Engineering — and ISR — Institute for Systems and Robotics, Instituto Superior T´ecnico, Universidade de Lisboa, Lisboa, 1049-001, Portugal
small sensors used on these systems are much noisier and present more considerable biases when compared with professional aeronautics systems. Additionally, the compact structure results in a higher susceptibility to environmental effects and the reduced scale leads to the vibrations, which are frequent in these flight platforms, impacting the sensors. Therefore, not only the onboard estimation is more challenging, but also the control algorithm must not present significant performance deviations when subjected to noisy measurements. On the other hand, the system is highly nonlinear, multivariable, and has coupled dynamics. Furthermore, its high maneuverability is a consequence of possessing fa
Data Loading...
