Flight control methods for multirotor UAS

Kasey A. Ackerman, Irene M. Gregory, Naira Hovakimyan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents several control methodologies for multirotor aircraft. It details simple control laws for body-axis rate or quaternion attitude tracking and provides an interpretation of control gains in terms of natural frequency and damping of the closed-loop system. Additionally, it describes a method for tuning the control gains via LQR. Control laws for translational dynamics, based on a nonlinear path-following control architecture, are also presented. Vertical and horizontal tracking are partially decoupled by dynamically scaling the thrust command, and an attitude protection method is added to prevent commands that would result in undesirable vehicle attitudes. The path-following input and error definition are modified to achieve position tracking, velocity tracking, or path-following control.

Original languageEnglish (US)
Title of host publication2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages353-361
Number of pages9
ISBN (Electronic)9781728103327
DOIs
StatePublished - Jun 2019
Event2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019 - Atlanta, United States
Duration: Jun 11 2019Jun 14 2019

Publication series

Name2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019

Conference

Conference2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
CountryUnited States
CityAtlanta
Period6/11/196/14/19

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization

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  • Cite this

    Ackerman, K. A., Gregory, I. M., & Hovakimyan, N. (2019). Flight control methods for multirotor UAS. In 2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019 (pp. 353-361). [8797739] (2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2019.8797739