Fast nonlinear model predictive control for multicopter attitude tracking on SO(3)

Exploiting the highly dynamic flight envelope of a multirotor Micro Aerial Vehicle (MAV) is a particularly challenging task that requires special treatment of its attitude control loop. In this paper, we propose a fast nonlinear model predictive control approach based on a geometric formulation of t...

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Bibliographic Details
Published in2015 IEEE Conference on Control Applications (CCA) pp. 1160 - 1166
Main Authors Kamel, Mina, Alexis, Kostas, Achtelik, Markus, Siegwart, Roland
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2015
Subjects
Angular velocity
Attitude control
Optimization
Propellers
Trajectory
Vehicle dynamics
Vehicles
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ISSN1085-1992
DOI10.1109/CCA.2015.7320769

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Summary:Exploiting the highly dynamic flight envelope of a multirotor Micro Aerial Vehicle (MAV) is a particularly challenging task that requires special treatment of its attitude control loop. In this paper, we propose a fast nonlinear model predictive control approach based on a geometric formulation of the error to track the MAV attitude on the SO(3) special orthogonal group. The proposed controller is combined with an optimal position tracking control strategy in a cascaded fashion. The overall framework is implemented on-board a hexacopter and verified in both high fidelity simulations as well as extensive experimental studies. As shown, the resulting closed-loop system exploits the dynamics of the platform, is able to track aggressive trajectories, recover from arbitrary attitude configurations and also handle a propeller failure.
ISSN:1085-1992
DOI:10.1109/CCA.2015.7320769