Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction

Giulia Michieletto 1 Angelo Cenedese 2 Luca Zaccarian 3 Antonio Franchi 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
3 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : A quaternion-based nonlinear control strategy is here presented to steer and keep a generic multi-rotor platform in a given reference position. Exploiting a state feedback structure, the proposed solution ensures the stabilization of the aerial vehicle so that its linear and angular velocity are zero and its attitude is constant. The main feature of the designed controller is the identification of a zero-moment direction in the feasible force space, i.e., a direction along which the control force intensity can be assigned independently of the control moment. The asymptotic convergence of the error dynamics is confirmed by simulation results on a hexarotor with tilted propellers.
Liste complète des métadonnées

Cited literature [14 references]  Display  Hide  Download

https://hal.laas.fr/hal-01513229
Contributor : Antonio Franchi <>
Submitted on : Monday, April 24, 2017 - 6:11:19 PM
Last modification on : Thursday, January 11, 2018 - 6:26:55 AM
Document(s) archivé(s) le : Tuesday, July 25, 2017 - 5:28:21 PM

File

2017i-MicCenZacFra-preprint.pd...
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01513229, version 1

Citation

Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi. Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction. IFAC World Congress 2017, Jul 2017, Toulouse, France. 2017. 〈hal-01513229〉

Share

Metrics

Record views

144

Files downloads

170