Zangarini, Angelo (Politecnico di Milano), Invernizzi, Davide (Politecnico di Milano), Panizza, Pietro (Politecnico di Milano), Lovera, Marco (Politecnico di Milano)

Closed-Loop MIMO Data-Driven Attitude Control Design for a Multirotor UAV

Scheduled for presentation during the Regular Session "Multirotor UAVs" (ThA1), Thursday, April 4, 2019, 15:00−15:30, Carassa-Dadda

5th CEAS Conference on Guidance, Navigation and Control, April 3-5, 2019, Milano, Italy

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

Data-driven controller design methods allow a fast tuning of controller parameters directly from data, relying on limited prior knowledge of the plant dynamics. In this paper, the problem of tuning the attitude control system of a multirotor UAV is tackled and a data-driven approach is proposed.With respect to previous work, in this paper data collected in flight, during closed-loop experiments, is used to tune the controller gains. Furthermore, the simultaneous tuning of roll and pitch attitude control loops is demonstrated, thus pavimg the way to MIMO data-driven attitude control design. The results, based on experimental work carried out on a small-scale quadrotor, show that a performance level comparable to that of modelbased methods can be achieved.