A universal controller for robust trajectory tracking in multirotor unmanned aerial vehicles (UAVs) is disclosed. A particular embodiment includes: a sensor system to measure position and orientation of a multirotor unmanned aerial vehicle (UAV); and a flight control system, coupled to the sensor system, the flight control system being configured to: obtain position and orientation data from the sensor system; generate a plurality of derivatives from the position and orientation data using a differentiator; apply a decoupling control law to approximately decouple translation dynamics from each other in a three-dimensional (3D) space; compute error values between desired trajectories and actual trajectories in each dimension of 3D space using the plurality of derivatives and the decoupled dynamics; and generate control signals to vary speeds of a plurality of thrust elements to counteract the computed error values in each dimension of 3D space.


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    Title :

    UNIVERSAL CONTROLLER FOR ROBUST TRAJECTORY TRACKING IN MULTIROTOR UNMANNED AERIAL VEHICLES (UAVs)


    Contributors:

    Publication date :

    2019-01-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge



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