Autonomous Flight Control for Multirotors by a Simple Input-Output Linearization with Nested Saturation

Yongeun Yoon, Eric N. Johnson, Liling Ren

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Multirotors are one of the most popular types of small unmanned aircraft systems today with applications in many areas including but not limited to aerial photography, transport, military, surveillance, agriculture, and leisure. Autonomous flight controls is one of the key enabler technologies for their popularity and growing applications. Many studies about the flight controls for multirotors have enhanced the control performance, but we still have rooms to improve in tracking accuracy and efficiency. This paper presents an autonomous flight control method for multirotors based on a simple input-output linearization coupled with nested saturation. We choose an unconventional, alternative output of the multirotor flight control system, which leads to reducing computational cost regarding Lie algebra when we linearize the system dynamics. Then we stabilize the linearized system with nested saturation with real poles of our own choice. Given the desired output through the outer loop PID controller, the results of the simulations show that the error dynamics regarding the outputs are stabilized exponentially fast.

Original languageEnglish (US)
Title of host publication2018 IEEE Conference on Control Technology and Applications, CCTA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages355-360
Number of pages6
ISBN (Electronic)9781538676981
DOIs
StatePublished - Oct 26 2018
Event2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Denmark
Duration: Aug 21 2018Aug 24 2018

Publication series

Name2018 IEEE Conference on Control Technology and Applications, CCTA 2018

Other

Other2nd IEEE Conference on Control Technology and Applications, CCTA 2018
CountryDenmark
CityCopenhagen
Period8/21/188/24/18

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Optimization
  • Automotive Engineering
  • Safety, Risk, Reliability and Quality

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