In this paper, a control system for unmanned aerial vehicles (UAVs) is designed, tested in simulation by means of a high-fidelity simulator, and then applied to a real quadrotor UAV. A novel approach is proposed for the control design, based on the combination of two methodologies: feedback linearization (FL) and embedded model control (EMC). FL allows us to properly transform the UAV dynamics into a form suitable for EMC; EMC is then used to control the transformed system. A key feature of EMC is that it encompasses a so-called extended state observer (ESO), which not only recovers the system state but also gives a real-time estimate of all the disturbances/uncertainties affecting the system. This estimate is used by the FL-EMC control law to reject the aforementioned disturbances/uncertainties, including those collected via the FL, allowing a robustness and performance enhancement. This approach allows us to combine FL and EMC strengths. Most notably, the entire process is made systematic and application oriented. To set-up a reliable UAV attitude observer, an effective attitude sensors fusion is proposed and also benchmarked with an enhanced complementary filter. Finally, to enhance the closed-loop performance, a complete tuning procedure, encompassing frequency requirements, is outlined, based on suitably defined stability and performance metrics.
Control design for UAV quadrotors via embedded model control / Lotufo, M. A.; Colangelo, L.; Novara, C.. - In: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY. - ISSN 1063-6536. - 28:5(2020), pp. 1741-1756. [10.1109/TCST.2019.2918750]
Titolo: | Control design for UAV quadrotors via embedded model control | |
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Data di pubblicazione: | 2020 | |
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Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/TCST.2019.2918750 | |
Appare nelle tipologie: | 1.1 Articolo in rivista |
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tcst_uav_emc copy.pdf | 2. Post-print / Author's Accepted Manuscript | PUBBLICO - Tutti i diritti riservati | Visibile a tuttiVisualizza/Apri | |
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http://hdl.handle.net/11583/2844280