Abstract
In this article, a systematic procedure is given for determining a robust motion control law for autonomous quadcopters, starting from an input–output linearizable model. In particular, the suggested technique can be considered as a robust feedback linearization (FL), where the nonlinear state-feedback terms, which contain the aerodynamic forces and moments and other unknown disturbances, are estimated online by means of extended state observers. Therefore, the control system is made robust against unmodelled dynamics and endogenous as well as exogenous disturbances. The desired closed-loop dynamics is obtained by means of pole assignment. To have a feasible control action, that is, the forces produced by the motors belong to an admissible set of forces, suitable reference signals are generated by means of differentiators supplied by the desired trajectory. The proposed control algorithm is tested by means of simulation experiments on a Raspberry-PI board by means of the hardware-in-the-loop method, showing the effectiveness of the proposed approach. Moreover, it is compared with the standard FL control method, where the above nonlinear terms are computed using nominal parameters and the aerodynamical disturbances are neglected. The comparison shows that the control algorithm based on the online estimation of the above nonlinear state-feedback terms gives better static and dynamic behaviour over the standard FL control method.
Highlights
In the last years, the control of unmanned mobile vehicles has received great attention
The feedback linearization (FL) via dynamic feedback has been shown in the literature,[5] starting from the classical mathematical model of the vehicle with 12 state variables, which is not input–output linearizable
The motion control law for model (7) has to be designed so as to satisfy the following requirements: a) decoupling of the motions along the three axes of the inertial frame and that of the orientation along the yaw angle; b) robustness against endogenous and exogenous disturbances; c) each of the above decoupled motions has to occur according to the given dynamics; d) the control actions, i.e., the forces to be produced by the motor propellers, belong to the set of forces that the propellers can generate
Summary
The control of unmanned mobile vehicles has received great attention This interest is motivated by many applications, where the autonomous control is required, such as the tracking of a trajectory for the accomplishment of a particular task. On this subject, a huge number of works propose valid control solutions, especially in the field of aerial vehicles. The feedback linearization (FL) via dynamic feedback has been shown in the literature,[5] starting from the classical mathematical model of the vehicle with 12 state variables, which is not input–output linearizable.
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