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Evaluation of Acceleration-Based Disturbance Observation for Multicopter Control

Tomić, Teodor (2014) Evaluation of Acceleration-Based Disturbance Observation for Multicopter Control. In: 13th European Control Conference (ECC 2014), pp. 2937-2944. 13th European Control Conference (ECC), 24-27 Jun 2014, Strasbourg, France.

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Abstract

Small UAVs flying in narrow passages require robustness to turbulence caused by self-induced vortices. Aerial manipulation introduces modeling errors due to payload and parameter changes. When large external forces are applied, small helicopters must fly at orientations far outside hover conditions. The compensation of such uncertainties can be achieved through disturbance observation (DO). An onboard IMU makes the platform well-suited for acceleration-based DO. In this paper, we evaluate a cascaded attitude and position tracking controller for a quadrotor. Quaternions are used for attitude control to allow large orientation angles. We investigate attitude tracking by the boundary-layer integral sliding mode control coupled with acceleration-based DO. The position controller generates singularity-free quaternion and angular velocity signals. The presented controller is experimentally verified and compared to PID and backstepping controllers for trajectory tracking and hovering in turbulent conditions. Compensation of large external forces in the horizontal plane is shown through a stable 45 degree hover.

Item URL in elib:https://elib.dlr.de/90226/
Document Type:Conference or Workshop Item (Speech)
Title:Evaluation of Acceleration-Based Disturbance Observation for Multicopter Control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Tomić, Teodorteodor.tomic (at) dlr.deUNSPECIFIED
Date:24 June 2014
Journal or Publication Title:13th European Control Conference (ECC 2014)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 2937-2944
Status:Published
Keywords:quadrotor, disturbance observation, sliding mode control
Event Title:13th European Control Conference (ECC)
Event Location:Strasbourg, France
Event Type:international Conference
Event Dates:24-27 Jun 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Tomic, Teodor
Deposited On:08 Sep 2014 10:07
Last Modified:31 Jul 2019 19:47

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