In this paper, the problem of tuning the attitude control system of a multirotor unmanned aerial vehicle (UAV) is tackled and a data-driven approach is proposed. With respect to previous work, the data used to tune the controller gains is collected in flight during closed-loop experiments. Furthermore, the simultaneous tuning of roll and pitch attitude control loops is demonstrated, thus paving the way to MIMO data-driven attitude control design. Simulation results confirmed that a MIMO controller allows rejecting undesired coupling effects that affect the performance of a standard decoupled controller usually employed in autopilots for multirotor UAVs. Finally, the results based on experimental work carried out on a quadrotor UAV show that a good level of performance can be achieved in typical operating conditions with the proposed tuning method.
Closed-loop MIMO data-driven attitude control design for a multirotor UAV
CEAS Aeronaut J
CEAS Aeronautical Journal ; 11 , 4 ; 873-884
2020-12-01
12 pages
Article (Journal)
Electronic Resource
English
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