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Trajectory tracking control of multirotors from modelling to experiments: A survey

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  • Robot and Applications
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Abstract

Multirotors have received a great attention from researchers and the general public, as a platform on which various ideas can be easily demonstrated. This paper aims to provide background materials by categorizing various representations of multirotor dynamics and existing control approaches for multirotor control. First, many ways of expressing the translation and the attitude dynamics of a quadrotor UAV are described. Second, linear and nonlinear control laws are reviewed considerably. Finally, we show various types of flight test-beds configured for validating the controller. In experiments, the performance of linear and nonlinear controller are described.

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Authors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Seoul National University, 1 Gwanack-ro, Gwanack-gu, Seoul, Korea

    Hyeonbeom Lee & H. Jin Kim

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  1. Hyeonbeom Lee
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  2. H. Jin Kim
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Correspondence to H. Jin Kim.

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Recommended by Associate Editor DaeEun Kim under the direction of Editor Euntai Kim. This work was supported by the Technology Innovation Program (10051673) funded by the Ministry of Trade, industry and Energy(MI, Korea) and the program of Development of Space Core Technology through the National Research Foundation of Korea funded by the Ministry of Science, ICT and Future Planning (NRF-2015M1A3A3A05027630).

Hyeonbeom Lee received the B.S. degree in Mechanical and Control Engineering from Handong Global University in 2011, and the M.S. degree in Mechanical and Aerospace Engineering from Seoul National University in 2013. He is currently pursuing the Ph.D. degree in the Department of Mechanical and Ae-rospace Engineering at Seoul National University. His research interests include aerial manipulation and motion planning of aerial robots.

H. Jin Kim received the B.S. degree from Korea Advanced Institute of Technology (KAIST) in 1995, and the M.S. and Ph.D. degrees in Mechanical Engineering from University of California, Berkeley (UC Berkeley), in 1999 and 2001, respectively. From 2002 to 2004, she was a Postdoctoral Researcher in Electrical Engineering and Computer Science (EECS), UC Berkeley. In September 2004 she joined the Department of Mechanical and Aerospace Engineering at Seoul National University, Seoul, Korea, as an Assistant Professor where she is currently a Professor. Her research interests include intelligent control of robotic systems and motion planning.

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Lee, H., Kim, H.J. Trajectory tracking control of multirotors from modelling to experiments: A survey. Int. J. Control Autom. Syst. 15, 281–292 (2017). https://doi.org/10.1007/s12555-015-0289-3

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