Design of dynamic inversion and explicit model following flight control laws for quadrotor UAS

Umberto Saetti, Joseph F. Horn, Sagar Lakhmani, Constantino Lagoa, Tom Berger

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

The objectives of this paper are to advance dynamic inversion (DI) and explicit model following (EMF) flight control laws for quadrotor unmanned aerial systems (UAS) and to develop an efficient strategy to compute the stability and performance robustness statistics of such control laws given parametric model uncertainty. For this purpose, a parametric model of a quadrotor is identified from flight-test data. The identified model is validated both in frequency and time domains. Next, DI and EMF flight control laws are designed for both inner attitude and outer velocity loops. Finally, a novel approach based on an unscented transform is used to evaluate the statistics of the controller's performance based on the statistics of the uncertain model parameters.

Original languageEnglish (US)
Article number032006
JournalJournal of the American Helicopter Society
Volume65
Issue number3
DOIs
StatePublished - Jul 2020

All Science Journal Classification (ASJC) codes

  • Materials Science(all)
  • Aerospace Engineering
  • Mechanics of Materials
  • Mechanical Engineering

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