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.


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    Title :

    Constrained Control Allocation Approaches in Trajectory Control of a Quadrotor Under Actuator Saturation


    Contributors:
    Tariq, Talha (author) / Nahon, Meyer (author)


    Publication date :

    2020-09-01


    Size :

    1390971 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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