Reliable nonlinear control for quadcopter trajectory tracking through differential flatness

This paper addresses the trajectory tracking problem for a quadcopter system under nominal and fault-affected scenarios (in the latter case, due to stuck actuator(s)). Differential flatness is employed for trajectory generation and control design. The particularity resides in that a full parametriza...

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Bibliographic Details
Published inIFAC-PapersOnLine Vol. 50; no. 1; pp. 6971 - 6976
Main Authors Nguyen, Ngoc Thinh, Prodan, Ionela, Stoican, Florin, Lefèvre, Laurent
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.07.2017
Subjects
Computed torque control
Differential flatness
Fault events
Feedback linearization
Quadcopter unmanned vehicle
Trajectory tracking
Quadcopter unmanned vehicle
Trajectory tracking
Differential flatness
Feedback linearization
Computed torque control
Fault events
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Summary:This paper addresses the trajectory tracking problem for a quadcopter system under nominal and fault-affected scenarios (in the latter case, due to stuck actuator(s)). Differential flatness is employed for trajectory generation and control design. The particularity resides in that a full parametrization of the states and inputs is given without any assumptions or simplifications on the quadcopter dynamics. Furthermore, using the properties of flatness and a combination between computed torque control and feedback linearization, a two-layer control design is proposed. The tracking performances and stability gurantees are analyzed for nominal and faulty functioning under extensive simulations.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2017.08.1338