Design of dynamic inversion and explicit model following control laws for quadrotor inner and outer loops

Umberto Saetti, Joseph Francis Horn, Sagar Lakhmani, Constantino Manuel Lagoa, Tom Berger

Research output: Contribution to journalConference article

Abstract

A quadrotor was assembled with commercial off-the-shelf (COTS) components readily available on the market as a platform for future research at Penn State. As a first step in this research, a model of the quadrotor is identified from flight data. Given the largely decoupled dynamics at low speed, frequency sweeps in different channels are performed separately on the roll, pitch, yaw and heave axes. A frequency-domain approach is used to perform system identification. First, frequency responses of the aircraft output are extracted from frequency-sweep flight data. Next, state-space models are fit to the frequency response data. Overall the identified model matched flight data well in both the frequency and time domain. Dynamic Inversion (DI) and Explicit Model Following (EMF) with LQR disturbance rejection control laws are developed for both an inner attitude loop and outer velocity loop. The control laws were developed to meet similar requirements, and have similar performance and robustness.

Original languageEnglish (US)
JournalAnnual Forum Proceedings - AHS International
Volume2018-May
StatePublished - Jan 1 2018
Event74th American Helicopter Society International Annual Forum and Technology Display 2018: The Future of Vertical Flight - Phoenix, United States
Duration: May 14 2018May 17 2018

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Frequency response
Disturbance rejection
Identification (control systems)
Aircraft

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

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title = "Design of dynamic inversion and explicit model following control laws for quadrotor inner and outer loops",
abstract = "A quadrotor was assembled with commercial off-the-shelf (COTS) components readily available on the market as a platform for future research at Penn State. As a first step in this research, a model of the quadrotor is identified from flight data. Given the largely decoupled dynamics at low speed, frequency sweeps in different channels are performed separately on the roll, pitch, yaw and heave axes. A frequency-domain approach is used to perform system identification. First, frequency responses of the aircraft output are extracted from frequency-sweep flight data. Next, state-space models are fit to the frequency response data. Overall the identified model matched flight data well in both the frequency and time domain. Dynamic Inversion (DI) and Explicit Model Following (EMF) with LQR disturbance rejection control laws are developed for both an inner attitude loop and outer velocity loop. The control laws were developed to meet similar requirements, and have similar performance and robustness.",
author = "Umberto Saetti and Horn, {Joseph Francis} and Sagar Lakhmani and Lagoa, {Constantino Manuel} and Tom Berger",
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Design of dynamic inversion and explicit model following control laws for quadrotor inner and outer loops. / Saetti, Umberto; Horn, Joseph Francis; Lakhmani, Sagar; Lagoa, Constantino Manuel; Berger, Tom.

In: Annual Forum Proceedings - AHS International, Vol. 2018-May, 01.01.2018.

Research output: Contribution to journalConference article

TY - JOUR

T1 - Design of dynamic inversion and explicit model following control laws for quadrotor inner and outer loops

AU - Saetti, Umberto

AU - Horn, Joseph Francis

AU - Lakhmani, Sagar

AU - Lagoa, Constantino Manuel

AU - Berger, Tom

PY - 2018/1/1

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N2 - A quadrotor was assembled with commercial off-the-shelf (COTS) components readily available on the market as a platform for future research at Penn State. As a first step in this research, a model of the quadrotor is identified from flight data. Given the largely decoupled dynamics at low speed, frequency sweeps in different channels are performed separately on the roll, pitch, yaw and heave axes. A frequency-domain approach is used to perform system identification. First, frequency responses of the aircraft output are extracted from frequency-sweep flight data. Next, state-space models are fit to the frequency response data. Overall the identified model matched flight data well in both the frequency and time domain. Dynamic Inversion (DI) and Explicit Model Following (EMF) with LQR disturbance rejection control laws are developed for both an inner attitude loop and outer velocity loop. The control laws were developed to meet similar requirements, and have similar performance and robustness.

AB - A quadrotor was assembled with commercial off-the-shelf (COTS) components readily available on the market as a platform for future research at Penn State. As a first step in this research, a model of the quadrotor is identified from flight data. Given the largely decoupled dynamics at low speed, frequency sweeps in different channels are performed separately on the roll, pitch, yaw and heave axes. A frequency-domain approach is used to perform system identification. First, frequency responses of the aircraft output are extracted from frequency-sweep flight data. Next, state-space models are fit to the frequency response data. Overall the identified model matched flight data well in both the frequency and time domain. Dynamic Inversion (DI) and Explicit Model Following (EMF) with LQR disturbance rejection control laws are developed for both an inner attitude loop and outer velocity loop. The control laws were developed to meet similar requirements, and have similar performance and robustness.

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JO - Annual Forum Proceedings - AHS International

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