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

Fingerprint

Flight Control
Path Following
Gain control
Closed loop systems
Natural frequencies
Tuning
Damping
Quaternion
Aircraft
Natural Frequency
Closed-loop System
Horizontal
Vertical
Scaling
Methodology

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization

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

Flight control methods for multirotor UAS. / Ackerman, Kasey A.; Gregory, Irene M.; Hovakimyan, Naira.

2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 353-361 8797739 (2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019).

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

Ackerman, KA, Gregory, IM & Hovakimyan, N 2019, Flight control methods for multirotor UAS. in 2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019., 8797739, 2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019, Institute of Electrical and Electronics Engineers Inc., pp. 353-361, 2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019, Atlanta, United States, 6/11/19. https://doi.org/10.1109/ICUAS.2019.8797739
Ackerman KA, Gregory IM, Hovakimyan N. Flight control methods for multirotor UAS. In 2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 353-361. 8797739. (2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019). https://doi.org/10.1109/ICUAS.2019.8797739
Ackerman, Kasey A. ; Gregory, Irene M. ; Hovakimyan, Naira. / Flight control methods for multirotor UAS. 2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 353-361 (2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019).
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