Quadrotors are highly maneuverable vehicles that can be used to perform extremely aggressive maneuvers. Commanding a quadrotor to perform a maneuver that is beyond the physical capabilities of its actuators leads to actuator saturation. A prolonged state of saturated actuators can cause the vehicle to behave unpredictably. This work investigates the use of constrained control allocation methods in a cascaded control structure to mitigate the adverse effects of actuator saturation. More specifically, a weighted least squares approach is used in the position controller and mixer to prioritize certain control efforts while considering constraints on the actuators and, optionally, vehicle attitude. Additionally, a yaw-decoupled attitude controller is adopted to complement the control allocation method employed in the mixer. The proposed strategy offers a more comprehensive approach to addressing actuator saturation and was found to enhance the stability and tracking performance of the vehicle when compared to conventional approaches in simulation.
Constrained Control Allocation Approaches in Trajectory Control of a Quadrotor Under Actuator Saturation
2020-09-01
1390971 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Quadrotor Helicopter Trajectory Tracking Control
British Library Conference Proceedings | 2008
|Quadrotor Helicopter Trajectory Tracking Control
AIAA | 2008
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