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Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories


Faessler, Matthias; Franchi, Antonio; Scaramuzza, Davide (2018). Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories. IEEE Robotics and Automation Letters, 3(2):620-626.

Abstract

In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference trajectory to be tracked. The obtained feed-forward terms are then used in a cascaded, nonlinear feedback control law that enables accurate agile flight with quadrotors. Compared to state-of-the-art control methods, which treat the rotor drag as an unknown disturbance, our method reduces the trajectory tracking error significantly. Finally, we present a method based on a gradient-free optimization to identify the rotor drag coefficients, which are required to compute the feed-forward control terms. The new theoretical results are thoroughly validated trough extensive comparative experiments.

Abstract

In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference trajectory to be tracked. The obtained feed-forward terms are then used in a cascaded, nonlinear feedback control law that enables accurate agile flight with quadrotors. Compared to state-of-the-art control methods, which treat the rotor drag as an unknown disturbance, our method reduces the trajectory tracking error significantly. Finally, we present a method based on a gradient-free optimization to identify the rotor drag coefficients, which are required to compute the feed-forward control terms. The new theoretical results are thoroughly validated trough extensive comparative experiments.

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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Scopus Subject Areas:Physical Sciences > Control and Systems Engineering
Physical Sciences > Biomedical Engineering
Physical Sciences > Human-Computer Interaction
Physical Sciences > Mechanical Engineering
Physical Sciences > Computer Vision and Pattern Recognition
Physical Sciences > Computer Science Applications
Physical Sciences > Control and Optimization
Physical Sciences > Artificial Intelligence
Scope:Discipline-based scholarship (basic research)
Language:English
Date:1 April 2018
Deposited On:22 Mar 2018 12:36
Last Modified:19 Jul 2024 01:35
Publisher:Institute of Electrical and Electronics Engineers
ISSN:2377-3766
OA Status:Green
Publisher DOI:https://doi.org/10.1109/lra.2017.2776353
Official URL:http://rpg.ifi.uzh.ch/docs/RAL18_Faessler.pdf
Other Identification Number:merlin-id:16264
Project Information:
  • : FunderH2020
  • : Grant ID644271
  • : Project TitleAEROARMS - AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance
  • Content: Published Version