Kouvakas, Nikolaos (National and Kapodistrian University of Athens), Koumboulis, Fotis N. (National and Kapodistrian University of Athens)

Trim Point Transitions Via I/O Decoupling Controllers for 6DOF Quadrotors

Scheduled for presentation during the Regular Session "Control Design IV" (FrA2), Friday, June 18, 2021, 09:00−09:20, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

The problem of trim point transitions is investigated for 6DOF quadrotors, using I/O decoupling controllers. The linear approximant of the quadrotor is derived in parametric form with respect to the physical parameters of the nonlinear model and the trim points. Based upon the linear approximant, a static state feedback control law achieving I/O decoupling, command following and arbitrary pole assignment for the linear approximant of the closed loop system, is derived. The controller is expressed in terms of the physical parameters and the closed loop characteristic polynomial arbitrary coefficients. To increase the range of accurate transition among different trim points of the nonlinear model, appropriate cost criteria are used and a trim point transition algorithm is proposed. The performance of the overall scheme is demonstrated through simulation results.