Matthias Faessler Davide Falanga and Davide Scaramuzza IEEE Robotics and Automation Letters RAL System Overview HighLevel Part Position Controller Low Level Part Body Rate Controller ID: 714183
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Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight
Matthias Faessler, Davide Falanga, and Davide Scaramuzza
IEEE Robotics and Automation Letters (RA-L)Slide2
System Overview
High-Level PartPosition ControllerLow Level PartBody Rate Controller
MixerMotors
Body Rates
Collective Thrust
Body Torques
Collective Thrust
CmdsSlide3
Dynamical SystemBody-rate dynamicsAdditionally consider single rotor thrust dynamics
Resulting body-torque dynamicsDynamical system with body rates and body torques as statesSlide4
LQR Control DesignDynamical systemDesign infinite horizon LQR controllerResulting LQR control law with feed forward termsSlide5
Controller Trajectory Tracking PerformanceSlide6
Controller Disturbance RejectionSlide7
Body Torque EstimationIntegrate first-order thrust dynamicsLoad-cell step-input experimentsSlide8
Idea Behind Proposed Thrust MixingThrust mixing means finding
, , , s.t.Rotor thrust and drag-torque modelIndividual torque to thrust ratio Slide9
Iterative Thrust MixingInitialize iterationUsing rotor thrust and drag torque modelIterateSlide10
Yaw Control PerformanceSlide11
Idea Behind Handling Motor SaturationsRecall thrust mixingExample: one motor saturates
Proposed prioritizing saturationSlide12
Prioritizing Motor SaturationSlide13
Computation TimesSlide14
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