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Communication Dans Un Congrès Année : 2020

Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles

Mahmoud Hamandi
Marco Tognon
Antonio Franchi

Résumé

In this paper we propose to control a quadrotor through direct acceleration feedback. The proposed method, while simple in form, alleviates the need for accurate estimation of platform parameters such as mass and propeller effectiveness. In order to use efficaciously the noisy acceleration measurements in direct feedback, we propose a novel regression-based filter that exploits the knowledge on the commanded propeller speeds, and extracts smooth platform acceleration with minimal delay. Our tests show that the controller exhibits a few millimeter error when performing real world tasks with fast changing mass and effectiveness, e.g., in pick and place operation and in turbulent conditions. Finally, we benchmark the direct acceleration controller against the PID strategy and show the clear advantage of using high-frequency and low-latency acceleration measurements directly in the control feedback, especially in the case of low frequency position measurements that are typical for real outdoor conditions.
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Dates et versions

hal-02494590 , version 1 (28-02-2020)

Identifiants

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Mahmoud Hamandi, Marco Tognon, Antonio Franchi. Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles. IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9196557⟩. ⟨hal-02494590⟩
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