Prioritized Control Allocation for Quadrotors Subject to Saturation

Ewoud Smeur; Daan Höppener; Christophe De Wagter

Prioritized Control Allocation for Quadrotors Subject to Saturation

Ewoud Smeur, Daan Höppener, Christophe De Wagter

Control & Simulation

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

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Abstract

This paper deals with the problem of actuator saturation for INDI (Incremental Nonlinear Dynamic Inversion) controlled flying vehicles. The primary problem that arises from actuator saturation for quadrotors, is that of arbitrary control objective realization. We have integrated the weighted least squares control allocation algorithm into INDI, which allows for prioritization between roll, pitch, yaw and thrust. We propose that for a quadrotor, the highest priority should go to pitch and roll, then thrust, and then yaw. Through an experiment, we show that through this method, and the appropriate prioritization, errors in roll and pitch are greatly reduced when applying large yaw moments. Ultimately, this leads to increased stability and robustness.

Original language	English
Title of host publication	International Micro Air Vehicle Conference and Flight Competition 2017
Editors	H. de Plinval J.-M. Moschetta G. Hattenberger
Place of Publication	Toulouse, France
Pages	37-43
Number of pages	7
Publication status	Published - 18 Sept 2017
Event	9th international micro air vehicles: Conference and flight competition - Toulouse, France Duration: 18 Sept 2017 → 21 Sept 2017 Conference number: 9 http://www.imav2017.org/ http://www.imavs.org/2017/

Conference

Conference	9th international micro air vehicles
Abbreviated title	IMAV 2017
Country/Territory	France
City	Toulouse
Period	18/09/17 → 21/09/17
Internet address	http://www.imav2017.org/ http://www.imavs.org/2017/

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Cite this

@inproceedings{54c4659a3a6d4d44873daec6ae5e2376,

title = "Prioritized Control Allocation for Quadrotors Subject to Saturation",

abstract = "This paper deals with the problem of actuator saturation for INDI (Incremental Nonlinear Dynamic Inversion) controlled flying vehicles. The primary problem that arises from actuator saturation for quadrotors, is that of arbitrary control objective realization. We have integrated the weighted least squares control allocation algorithm into INDI, which allows for prioritization between roll, pitch, yaw and thrust. We propose that for a quadrotor, the highest priority should go to pitch and roll, then thrust, and then yaw. Through an experiment, we show that through this method, and the appropriate prioritization, errors in roll and pitch are greatly reduced when applying large yaw moments. Ultimately, this leads to increased stability and robustness.",

author = "Ewoud Smeur and Daan H{\"o}ppener and Wagter, {Christophe De}",

year = "2017",

month = sep,

day = "18",

language = "English",

pages = "37--43",

editor = "{J.-M. Moschetta G. Hattenberger}, {H. de Plinval}",

booktitle = "International Micro Air Vehicle Conference and Flight Competition 2017",

note = "9th international micro air vehicles : Conference and flight competition, IMAV 2017 ; Conference date: 18-09-2017 Through 21-09-2017",

url = "http://www.imav2017.org/, http://www.imavs.org/2017/",

}

Prioritized Control Allocation for Quadrotors Subject to Saturation. / Smeur, Ewoud; Höppener, Daan; Wagter, Christophe De.
International Micro Air Vehicle Conference and Flight Competition 2017. ed. / H. de Plinval J.-M. Moschetta G. Hattenberger. Toulouse, France, 2017. p. 37-43.

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

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AU - Smeur, Ewoud

AU - Höppener, Daan

AU - Wagter, Christophe De

N1 - Conference code: 9

PY - 2017/9/18

Y1 - 2017/9/18

N2 - This paper deals with the problem of actuator saturation for INDI (Incremental Nonlinear Dynamic Inversion) controlled flying vehicles. The primary problem that arises from actuator saturation for quadrotors, is that of arbitrary control objective realization. We have integrated the weighted least squares control allocation algorithm into INDI, which allows for prioritization between roll, pitch, yaw and thrust. We propose that for a quadrotor, the highest priority should go to pitch and roll, then thrust, and then yaw. Through an experiment, we show that through this method, and the appropriate prioritization, errors in roll and pitch are greatly reduced when applying large yaw moments. Ultimately, this leads to increased stability and robustness.

AB - This paper deals with the problem of actuator saturation for INDI (Incremental Nonlinear Dynamic Inversion) controlled flying vehicles. The primary problem that arises from actuator saturation for quadrotors, is that of arbitrary control objective realization. We have integrated the weighted least squares control allocation algorithm into INDI, which allows for prioritization between roll, pitch, yaw and thrust. We propose that for a quadrotor, the highest priority should go to pitch and roll, then thrust, and then yaw. Through an experiment, we show that through this method, and the appropriate prioritization, errors in roll and pitch are greatly reduced when applying large yaw moments. Ultimately, this leads to increased stability and robustness.

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M3 - Conference contribution

SP - 37

EP - 43

BT - International Micro Air Vehicle Conference and Flight Competition 2017

A2 - J.-M. Moschetta G. Hattenberger, H. de Plinval

CY - Toulouse, France

T2 - 9th international micro air vehicles

Y2 - 18 September 2017 through 21 September 2017

ER -

Prioritized Control Allocation for Quadrotors Subject to Saturation

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