Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Accéder directement au contenu
Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2018

Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories

Résumé

In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference trajectory to be tracked. The obtained feed-forward terms are then used in a cascaded, nonlinear feedback control law that enables accurate agile flight with quadrotors. Compared to state-of-the-art control methods, which treat the rotor drag as an unknown disturbance, our method reduces the trajectory tracking error significantly. Finally, we present a method based on a gradient-free optimization to identify the rotor drag coefficients, which are required to compute the feed-forward control terms. The new theoretical results are thoroughly validated trough extensive comparative experiments.
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Dates et versions

hal-01658577 , version 1 (07-12-2017)
hal-01658577 , version 2 (14-12-2017)

Identifiants

  • HAL Id : hal-01658577 , version 2

Citer

Matthias Faessler, Antonio Franchi, Davide Scaramuzza. Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories. IEEE Robotics and Automation Letters, 2018, 3 (2), pp.620-626. ⟨hal-01658577v2⟩
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