Data-driven controller design methods allow a fast tuning of controller parameters directly from data, relying on limited prior knowledge of the plant dynamics. In this paper, the problem of tuning the attitude control system of a multirotor UAV is tackled and a data-driven approach is proposed. With respect to previous work, in which open-loop experiments were carried out on a test bench allowing only a single attitude degree of freedom of the vehicle, in this paper data collected in flight, during closed-loop experiments, is used to tune the controller gains. The results, based on experimental work carried out on a small-scale quadrotor, show that a performance level comparable to that of model-based methods can be achieved.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Closed-Loop Data-Driven Attitude Control Design for a Multirotor UAV


    Beteiligte:


    Erscheinungsdatum :

    2018-08-01


    Format / Umfang :

    1177696 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Closed-loop MIMO data-driven attitude control design for a multirotor UAV

    Zangarini, A. / Invernizzi, D. / Panizza, P. et al. | Springer Verlag | 2020


    Data-Driven Modeling for Multirotor Autonomous Control

    Shiotsuka, Tatsuya / Bando, Mai / Hokamoto, Shinji | AIAA | 2024


    ATTITUDE CONTROL SYSTEM FOR A MULTIROTOR CROSSFLOW FAN EVTOL AIRBORNE CRAFT

    SCHLUNKE KIM | Europäisches Patentamt | 2023

    Freier Zugriff

    Multirotor

    HE CHUNWANG | Europäisches Patentamt | 2015

    Freier Zugriff

    ATTITUDE CONTROL SYSTEM FOR A MULTIROTOR CROSSFLOW FAN EVTOL AIRBORNE CRAFT

    SCHLUNKE KIM | Europäisches Patentamt | 2024

    Freier Zugriff