Abstract
This paper presents a novel controller architecture for a quadrocopter. A two-loop controller using dynamic inversion is designed that allows direct commands for position and heading angle. The inner loop controls the body-fixed angular rates. And the outer loop achieves the position control. With this structure, the position dynamic equation appears in an elegant form. The derived controller is capable of decoupling the strongly coupled dynamics of the quadrocopter, maximizing the transmission bandwidth of the position control, as well as eliminating the singularity caused by the attitude control (i.e. pitch angle at 90 degree). Pseudo-control hedging is applied in the position loop to account for limitations, saturations, actuator dynamics and delay in the inner loop. The effectiveness of the designed controller is demonstrated by an implementation on a quadrocopter equipped with an ARM7 onboard processor.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Holzapfel, F., Sachs, G.: Dynamic Inversion Based Control Concept with Application to an Unmanned Aerial Vehicle. In: AIAA Guidance, Navigation and Control Conference and Exhibit: AIAA-2004-4907 (2004)
Klose, S., Wang, J., et al.: Markerless Vision Assisted Flight Control of a Quadrocopter. In: IEEE 2010 RSJ International Conference on Intelligent Robots and Systems (2010)
Voos, H.: Nonlinear Control of a Quadrotor Micro-UAV using Feedback-Linearization. In: Proc. of IEEE International Conference on Mechatronics (2009)
Bouabdallah, S., Siegwart, R.: Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor. In: Proc. of the IEEE International Conference on Robotics and Automation (2005)
Marquez, H.: Feedback linearization. In: Nonlinear Control Systems – Analysis and Design. Wiley, Canada (2003)
Khalil, H.: Feedback linearization. In: Nonlinear Systems, 3rd edn. Prentice Hall, Englewood Cliffs (2002)
Achtelik, M.: Simulink Quadrocopter Framework. Semesterarbeit, Technische Universität München (2009)
Achtelik, M.: Nonlinear and Adaptive Control of a Quadcopter, Diplomarbeit, Technische Universität München (2010)
Holzapfel, F.: Nichtlineare adaptive Regelung eines unbemannten Fluggerätes. PhD thesis, Technische Universität München (2004)
Johnson, E.: Limited Authority Adaptive Flight Control. PhD thesis, Georgia Institute of Technology (2000)
Franklin, F., Powell, D., et al.: Digital Control of Dynamic System, 2nd edn. Addison-Wesley, Reading (1990)
Ascending technologies GmbH, Hummingbird Autopilot (2010), http://www.asctec.de (accessed July 27, 2010)
MEMSIC, Inc., Thermal Accelerometer (August 27, 2010), http://www.memsic.com
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Wang, J., Bierling, T., Höcht, L., Holzapfel, F., Klose, S., Knoll, A. (2011). Novel Dynamic Inversion Architecture Design for Quadrocopter Control. In: Holzapfel, F., Theil, S. (eds) Advances in Aerospace Guidance, Navigation and Control. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19817-5_21
Download citation
DOI: https://doi.org/10.1007/978-3-642-19817-5_21
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-19816-8
Online ISBN: 978-3-642-19817-5
eBook Packages: EngineeringEngineering (R0)