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Communication Dans Un Congrès Année : 2017

Nonlinear feedback control of Quadrotors exploiting First-Order Drag Effects

Résumé

We exploit the first-order aerodynamic effects for the feedback control of quadrotors in order to enhance the performance of the closed-loop system. We describe first the origin of these forces and then we show how the complexity of the system dynamics can be transformed by a change of control input into a simpler form, for which the classical hierarchical control approach (slightly modified here) can be applied. The simulation results illustrate the soundness of the proposed drag-augmented control scheme.
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Dates et versions

hal-01544740 , version 1 (25-06-2017)

Identifiants

  • HAL Id : hal-01544740 , version 1

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Jean-Marie Kai, Guillaume Allibert, Minh-Duc Hua, Tarek Hamel. Nonlinear feedback control of Quadrotors exploiting First-Order Drag Effects. IFAC World Congress, Jul 2017, Toulouse, France. ⟨hal-01544740⟩
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