Quadrotor vehicles show great potential over a range of tasks, but effective control in windy environments continues to be a challenge. This paper develops a thrust-saturated controller on the Lie group SO (3) that uses flow sensing in order to reduce the effect of gusts on the vehicle. Designing the controller on SO (3) establishes almost-global exponential stability, and avoids the pitfalls of representing rigid-body kinematics using Euler angles. We prove that exponential stability is retained in the presence of thrust saturation. Aerodynamics are incorporated into the dynamics and control through a model of the blade-flapping phenomena experienced by rotorcraft. Numerical examples show that the system control remains effective despite thrust saturation, and that flow sensing improves both the initial response and steady-state error of the system in wind.
- Dynamic Systems and Control Division
Geometric Control of Quadrotor Attitude in Wind With Flow Sensing and Thrust Constraints
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Craig, W, & Paley, DA. "Geometric Control of Quadrotor Attitude in Wind With Flow Sensing and Thrust Constraints." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems. Tysons, Virginia, USA. October 11–13, 2017. V001T02A005. ASME. https://doi.org/10.1115/DSCC2017-5174
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