Title :
Admissible thrust control laws for quadrotor position tracking
Author :
Falconi, Guillermo P. ; Fritsch, Oliver ; Lohmann, B. ; Holzapfel, Florian
Author_Institution :
Inst. of Flight Syst. Dynamics (FSD), Tech. Univ. Munchen (TUM), Munich, Germany
Abstract :
In this paper a hierarchical position tracking controller for a quadrotor is presented, which consists of an inner attitude controller and an outer position controller. The tracking error dynamics form a nonautonomous cascade built up by a linear attitude error subsystem and a linear position error subsystem, coupled by a nonlinear interconnection term. The stability properties of the cascaded system essentially rely on the characteristics of the interconnection term, which strongly depends on the choice of the thrust. We characterize a class of admissible thrust control laws in terms of closed loop asymptotic stability and demonstrate the significant influence of different laws on the transient behavior of the system.
Keywords :
aircraft control; asymptotic stability; attitude control; cascade control; closed loop systems; helicopters; linear systems; position control; rotors; vehicle dynamics; admissible thrust control laws; cascaded system; closed loop asymptotic stability; hierarchical quadrotor position tracking controller; inner attitude controller; linear attitude error subsystem; linear position error subsystem; nonautonomous cascade; nonlinear interconnection term; outer position controller; tracking error dynamics; transient behavior; Asymptotic stability; Attitude control; Stability analysis; Tracking loops; Trajectory; Transient analysis; Vectors;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580588