Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions

A. Mancinelli; E. van der Horst; B.D.W. Remes; E.J.J. Smeur

Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions

A. Mancinelli, E. van der Horst, B.D.W. Remes, E.J.J. Smeur

Control & Simulation

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Abstract

This paper presents a modular autopilot framework for Unmanned Aerial Vehicles (UAVs) that addresses the limitations of modern flight controllers. The framework utilizes separate and external subsystems for actuator control and the resolution of the Control Allocation problem. The actuator subsystem, implemented on a Teensy 4.0 microcontroller, incorporates an Incremental Dynamic Inversion Control (INDI) RPM controller, enabling direct control of motor RPM and facilitating the implementation of dynamic inversion-based control laws. The primary flight computer, a Cube Orange, coordinates the system, while an OrangePi 5 singleboard computer serves as a companion computer. Real flight results demonstrate the effectiveness of the framework, highlighting its potential for robust and efficient UAV control.

Original language	English
Title of host publication	14th annual international micro air vehicle conference and competition
Editors	D. Moormann
Pages	109-116
Publication status	Published - 2023
Event	14th anual International Micro Air Vehicle Conference and Competition - Aachen , Germany Duration: 11 Sept 2023 → 15 Sept 2023 Conference number: 14 https://2023.imavs.org/ (14th anual International Micro Air Vehicle Conference and Competition)

Conference

Conference	14th anual International Micro Air Vehicle Conference and Competition
Abbreviated title	IMAV 2023
Country/Territory	Germany
City	Aachen
Period	11/09/23 → 15/09/23
Internet address	https://2023.imavs.org/ (14th anual International Micro Air Vehicle Conference and Competition)

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Mancinelli - 2023 - Autopilot framework with INDI RPM control, real-tiFinal published version, 19.6 MB

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@inproceedings{2cf15cba675345f38f241c4f06cc8b07,

title = "Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions",

abstract = "This paper presents a modular autopilot framework for Unmanned Aerial Vehicles (UAVs) that addresses the limitations of modern flight controllers. The framework utilizes separate and external subsystems for actuator control and the resolution of the Control Allocation problem. The actuator subsystem, implemented on a Teensy 4.0 microcontroller, incorporates an Incremental Dynamic Inversion Control (INDI) RPM controller, enabling direct control of motor RPM and facilitating the implementation of dynamic inversion-based control laws. The primary flight computer, a Cube Orange, coordinates the system, while an OrangePi 5 singleboard computer serves as a companion computer. Real flight results demonstrate the effectiveness of the framework, highlighting its potential for robust and efficient UAV control. ",

author = "A. Mancinelli and {van der Horst}, E. and B.D.W. Remes and E.J.J. Smeur",

year = "2023",

language = "English",

pages = "109--116",

editor = "Moormann, {D. }",

booktitle = "14th annual international micro air vehicle conference and competition",

note = "14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023",

url = "https://2023.imavs.org/",

}

Mancinelli, A , van der Horst, E , Remes, BDW & Smeur, EJJ 2023, Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions. in D Moormann (ed.), 14th annual international micro air vehicle conference and competition., IMAV2023-13, pp. 109-116, 14th anual International Micro Air Vehicle Conference and Competition, Aachen , Germany, 11/09/23.

Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions. / Mancinelli, A.; van der Horst, E.; Remes, B.D.W. et al.
14th annual international micro air vehicle conference and competition. ed. / D. Moormann. 2023. p. 109-116 IMAV2023-13.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions

AU - Mancinelli, A.

AU - van der Horst, E.

AU - Remes, B.D.W.

AU - Smeur, E.J.J.

N1 - Conference code: 14

PY - 2023

Y1 - 2023

N2 - This paper presents a modular autopilot framework for Unmanned Aerial Vehicles (UAVs) that addresses the limitations of modern flight controllers. The framework utilizes separate and external subsystems for actuator control and the resolution of the Control Allocation problem. The actuator subsystem, implemented on a Teensy 4.0 microcontroller, incorporates an Incremental Dynamic Inversion Control (INDI) RPM controller, enabling direct control of motor RPM and facilitating the implementation of dynamic inversion-based control laws. The primary flight computer, a Cube Orange, coordinates the system, while an OrangePi 5 singleboard computer serves as a companion computer. Real flight results demonstrate the effectiveness of the framework, highlighting its potential for robust and efficient UAV control.

AB - This paper presents a modular autopilot framework for Unmanned Aerial Vehicles (UAVs) that addresses the limitations of modern flight controllers. The framework utilizes separate and external subsystems for actuator control and the resolution of the Control Allocation problem. The actuator subsystem, implemented on a Teensy 4.0 microcontroller, incorporates an Incremental Dynamic Inversion Control (INDI) RPM controller, enabling direct control of motor RPM and facilitating the implementation of dynamic inversion-based control laws. The primary flight computer, a Cube Orange, coordinates the system, while an OrangePi 5 singleboard computer serves as a companion computer. Real flight results demonstrate the effectiveness of the framework, highlighting its potential for robust and efficient UAV control.

M3 - Conference contribution

SP - 109

EP - 116

BT - 14th annual international micro air vehicle conference and competition

A2 - Moormann, D.

T2 - 14th anual International Micro Air Vehicle Conference and Competition

Y2 - 11 September 2023 through 15 September 2023

ER -

Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions

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