ICUAS'23 Paper Abstract

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Martini, Simone (University of Denver), Stefanovic, Margareta (University of Denver), Rizzo, Alessandro (Politecnico di Torino), Rutherford, Matthew (University of Denver), Livreri, Patrizia (Università di Palermo), Valavanis, Kimon P. (University of Denver)

A Benchmark Framework for Testing, Evaluation, and Comparison of Quadrotor Linear and Nonlinear Controllers

Scheduled for presentation during the Regular Session "UAS Testbeds" (ThA2), Thursday, June 8, 2023, 09:20−09:40, Room 130

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords UAS Testbeds, Multirotor Design and Control, UAS Applications

Abstract

A benchmark framework to test, evaluate, and compare different quadrotor controllers is presented. A detailed nonlinear quadrotor model and a set of six mission scenarios are used to evaluate seven state-of-the-art linear and nonlinear controllers. The quadrotor model is based on the Lagrange formulation and includes aerodynamic and gyroscopic effects, allows for sensor feedback noise to be introduced, and account for first order motor dynamics with input saturation. Simulated mission scenarios include realistic disturbances such as abrupt change of mass, wind gust, and aggressive flight maneuvers. The benchmark framework is the primary contribution of this research; the framework allows for performance comparison of multiple control architectures and implementations, and, the resulting open access testbed is made available to other researchers. Moreover, the same framework may be used to conduct simulated experiments (using ROS/Gazebo, X-Plane, or other software tools), and, with minor modifications, to compare controller performance based on real flights.

 

 

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