Abstract
This letter shows for the first time why it is important and how to optimize the gains of a position controller on board of a fully-actuated aerial vehicle with bounded lateral force, via an auto-tuning approach. In such vehicles, most of the control authority is expressed along a principal thrust direction, while along lateral directions smaller forces can be exploited to achieve full-pose tracking. The nonlinear and hard to model interplay between the constraint imposed on the lateral force and the gains of the position controller is overcome by employing the OPTIM-tune calibration method. Several experimental tests, performed fully autonomously during flight, clearly show the practicability and benefits of the approach.
Highlights
Aerial Vehicles (UAV)s have been widely studied in the literature over the past few years, with applications varying between search and rescue [1], fire fighting [2] and, more recently, aerial physical interaction [3]
We studied the interplay between the parameters and gains of the Bounded Lateral Force (BLF) platform while controlled via a full-pose controller
We showed that the optimally-chosen position control gains rely largely on the estimated lateral force limit
Summary
Most UAV applications rely on the use of collinear/coplanar platforms [1], [2], [4], such as quadrotors, hexarotors or octorotors, where all propellers are coplanar and provide thrust in a direction parallel to the platform’s vertical axis. This letter was recommended for publication by Associate Editor I. (Dariusz Horla and Mahmoud Hamandi contributed to the work.) (Corresponding author: Dariusz Horla.)
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