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Contribution Details
| Type | Journal Article |
| Scope | Discipline-based scholarship |
| Title | Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories |
| Organization Unit | |
| Authors |
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| Item Subtype | Original Work |
| Refereed | Yes |
| Status | Published in final form |
| Language |
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| Journal Title | IEEE Robotics and Automation Letters |
| Publisher | Institute of Electrical and Electronics Engineers |
| Geographical Reach | international |
| ISSN | 2377-3766 |
| Volume | 3 |
| Number | 2 |
| Page Range | 620 - 626 |
| Date | 2018 |
| Abstract Text | In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference trajectory to be tracked. The obtained feed-forward terms are then used in a cascaded, nonlinear feedback control law that enables accurate agile flight with quadrotors. Compared to state-of-the-art control methods, which treat the rotor drag as an unknown disturbance, our method reduces the trajectory tracking error significantly. Finally, we present a method based on a gradient-free optimization to identify the rotor drag coefficients, which are required to compute the feed-forward control terms. The new theoretical results are thoroughly validated trough extensive comparative experiments. |
| Zusammenfassung | In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference trajectory to be tracked. The obtained feed-forward terms are then used in a cascaded, nonlinear feedback control law that enables accurate agile flight with quadrotors. Compared to state-of-the-art control methods, which treat the rotor drag as an unknown disturbance, our method reduces the trajectory tracking error significantly. Finally, we present a method based on a gradient-free optimization to identify the rotor drag coefficients, which are required to compute the feed-forward control terms. The new theoretical results are thoroughly validated trough extensive comparative experiments. |
| Official URL | http://rpg.ifi.uzh.ch/docs/RAL18_Faessler.pdf |
| Digital Object Identifier | 10.1109/lra.2017.2776353 |
| Other Identification Number | merlin-id:16264 |
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