TY - GEN
T1 - Quadcopter Tracking Using Euler-Angle-Free Flatness-Based Control
AU - Asslouj, Aeris El
AU - Rastgoftar, Hossein
N1 - Publisher Copyright: © 2023 EUCA.
PY - 2023
Y1 - 2023
N2 - Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopter's rotational kinematics and dynamics. As a result, the same rotation can be translated into different roll, pitch, and yaw angles because there are multiple Euler angle standards for the characterization of rotation in a 3-dimensional motion space. To address this issue, this paper will develop a flatness-based trajectory tracking control without using Euler angles. We assess and test the proposed control's performance in the Gazebo simulation environment and contrast its functionality with the existing Mellinger controller, which has been widely adopted by the robotics and unmanned aerial system (UAS) communities. Our simulations also show that, for both controllers, the main cause of loss of stability is not the theoretical domain of stability, but it is instead the inability of quadcopter rotors to provide negative thrust as is requested by controllers for aggressive trajectories.
AB - Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopter's rotational kinematics and dynamics. As a result, the same rotation can be translated into different roll, pitch, and yaw angles because there are multiple Euler angle standards for the characterization of rotation in a 3-dimensional motion space. To address this issue, this paper will develop a flatness-based trajectory tracking control without using Euler angles. We assess and test the proposed control's performance in the Gazebo simulation environment and contrast its functionality with the existing Mellinger controller, which has been widely adopted by the robotics and unmanned aerial system (UAS) communities. Our simulations also show that, for both controllers, the main cause of loss of stability is not the theoretical domain of stability, but it is instead the inability of quadcopter rotors to provide negative thrust as is requested by controllers for aggressive trajectories.
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U2 - 10.23919/ECC57647.2023.10178337
DO - 10.23919/ECC57647.2023.10178337
M3 - Conference contribution
T3 - 2023 European Control Conference, ECC 2023
BT - 2023 European Control Conference, ECC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 European Control Conference, ECC 2023
Y2 - 13 June 2023 through 16 June 2023
ER -