This video shows trajectory tracking of a hexacopter under propeller failure. It accompanies the controls paper referenced below. Reference Kamel, Mina, et al. "Fast nonlinear model predictive control for multicopter attitude tracking on SO (3)." Control Applications (CCA), 2015 IEEE Conference on. IEEE, 2015. Abstract Exploiting the highly dynamic flight envelope of a multirotor Micro Aerial Vehicle (MAV) is a particularly challenging task that requires special treatment of its attitude control loop. In this paper, we propose a fast nonlinear model predictive control approach based on a geometric formulation of the error to track the MAV attitude on the SO(3) special orthogonal group. The proposed controller is combined with an optimal position tracking control strategy in a cascaded fashion. The overall framework is implemented on-board a hexacopter and verified in both high fidelity simulations as well as extensive experimental studies. As shown, the resulting closed-loop system exploits the dynamics of the platform, is able to track aggressive trajectories, recover from arbitrary attitude configurations and also handle a propeller failure.


    Access

    Download


    Export, share and cite



    Title :

    Fast Nonlinear Model Predictive Control for Multicopter Attitude Tracking on SO(3)


    Contributors:

    Publication date :

    2015-04-15


    Remarks:

    oai:zenodo.org:1143719



    Type of media :

    Audio-visual


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    MULTICOPTER CONTROL METHOD, MULTICOPTER CONTROLLER, AND MULTICOPTER TOY

    ISHIKAWA HIROYOSHI | European Patent Office | 2017

    Free access


    Incremental Nonlinear Model Predictive Control for Aircraft Attitude Tracking

    Chen, Guangshan / Xie, Jingjie / Yu, Yushu | ASCE | 2025


    MULTICOPTER AND MULTICOPTER SYSTEM

    KUROIWA KENJI | European Patent Office | 2016

    Free access

    CONTROLLER FOR MULTICOPTER AND CONTROL METHOD OF MULTICOPTER

    ISHIKAWA HIROYOSHI | European Patent Office | 2017

    Free access