Advanced Techniques for Quadrotor Flight Control

The research paper discusses thrust mixing, saturation, and body-rate control for precise and aggressive quadrotor flight. It covers system overview, dynamical system modeling, LQR control design, trajectory tracking performance, disturbance rejection, body torque estimation, and iterative thrust mixing approaches. The proposed methods aim to enhance quadrotor maneuverability and stability through advanced control strategies.

• Quadrotor Flight
• Control Techniques
• Thrust Mixing
• Body-Rate Control
• Robotics

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1. Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight Matthias Faessler, Davide Falanga, and Davide Scaramuzza IEEE Robotics and Automation Letters (RA-L)

2. System Overview High-Level Part Low Level Part Position Controller Body Rate Controller Cmds Body Rates Collective Thrust Body Torques Collective Thrust Mixer Motors Matthias Faessler Robotics and Perception Group University of Zurich 2

3. Dynamical System Body-rate dynamics Additionally consider single rotor thrust dynamics Resulting body-torque dynamics Dynamical system with body rates and body torques as states Matthias Faessler Robotics and Perception Group University of Zurich 3

4. LQR Control Design Dynamical system Design infinite horizon LQR controller Resulting LQR control law with feed forward terms Matthias Faessler Robotics and Perception Group University of Zurich 4

5. Controller Trajectory Tracking Performance Matthias Faessler Robotics and Perception Group University of Zurich 5

6. Controller Disturbance Rejection Matthias Faessler Robotics and Perception Group University of Zurich 6

7. Body Torque Estimation Integrate first-order thrust dynamics Load-cell step-input experiments Matthias Faessler Robotics and Perception Group University of Zurich 7

8. Idea Behind Proposed Thrust Mixing Thrust mixing means finding ?1, ?2, ?3, ?4 s.t. Rotor thrust and drag-torque model Individual torque to thrust ratio Matthias Faessler Robotics and Perception Group University of Zurich 8

9. Iterative Thrust Mixing Initialize iteration Using rotor thrust and drag torque model Iterate Matthias Faessler Robotics and Perception Group University of Zurich 9

10. Yaw Control Performance Matthias Faessler Robotics and Perception Group University of Zurich 10

11. Idea Behind Handling Motor Saturations Recall thrust mixing Example: one motor saturates Proposed prioritizing saturation Matthias Faessler Robotics and Perception Group University of Zurich 11

12. Prioritizing Motor Saturation Matthias Faessler Robotics and Perception Group University of Zurich 12

13. Computation Times Matthias Faessler Robotics and Perception Group University of Zurich 13

14. Video Matthias Faessler Robotics and Perception Group University of Zurich 14