Model identification and H∞ attitude control for quadrotor MAV's

Authors:
Ole Falkenberg;Jonas Witt;Ulf Pilz;Uwe Weltin;Herbert Werner
Affiliations:
Institute for Reliability Engineering, Hamburg University of Technology, Hamburg, Germany;Institute for Reliability Engineering, Hamburg University of Technology, Hamburg, Germany;Institute of Control Systems, Hamburg University of Technology, Hamburg, Germany;Institute for Reliability Engineering, Hamburg University of Technology, Hamburg, Germany;Institute of Control Systems, Hamburg University of Technology, Hamburg, Germany
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
Year:
2012

Citing 4
Cited 0

System identification (2nd ed.): theory for the user

System identification (2nd ed.): theory for the user
Quadrocopter localization using RTK-GPS and vision-based trajectory tracking

ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
Design of a high performance quad-rotor robot based on a layered real-time system architecture

ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
Brief Linear conditioning for systems containing saturating actuators

Automatica (Journal of IFAC)

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents the results of modelling, parameter identification and control of the rotational axes of a quadrotor robot. The modelling is done in Newton-Euler Formalism and has been published before. Contrarily, our method uses a Grey-Box-based, iterative parameter identification approach, the results of which can easily be reproduced and offers great accuracy. By neglecting nonlinear and cross-coupling effects, only three to four parameters have to be identified per axis, depending on the order of the motor dynamics. Based on the achieved results we were able to design an aggressive $\mathcal{H_{\infty}}$ attitude controller, which shows superior performance to the normal PID-like controllers. With an anti-windup compensator based on Riccati---equations we are able to show exceptional input disturbance rejection, even with disturbances saturating the engines.