Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors
Name
How_Actuator constrained.pdf
Size
3.06 MB
Format
Adobe PDF
Checksum (MD5)
65fc4c35a68fbe1bd3bfa4dfafa17814
Author(s)
Cutler, Mark Johnson
How, Jonathan P.
Date Issued
August 2012
Journal
AIAA Guidance, Navigation, and Control Conference
Publisher
American Institute of Aeronautics and Astronautics
Citation
Cutler, Mark, and Jonathan How. “Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors.” In AIAA Guidance, Navigation, and Control Conference, 13 - 16 August 2012, Minneapolis, Minnesota, American Institute of Aeronautics and Astronautics, 2012.
Version
Author's final manuscript
Abstract
Control and trajectory generation algorithms for a quadrotor helicopter with
variable-pitch propellers are presented. The control law is not based on near-hover assumptions, allowing for large attitude deviations from hover. The trajectory generation algorithm ts a time-parametrized polynomial through any number of way points in R3, with a closed-form solution if the corresponding way point arrival times are known a priori. When time is not specifi ed, an algorithm for fi nding minimum-time paths subject to hardware actuator saturation limitations is presented. Attitude-specifi c constraints are easily embedded in the polynomial path formulation, allowing for aerobatic maneuvers to be performed using a single controller and trajectory generation algorithm. Experimental results on a variable pitch quadrotor demonstrate the control design and example trajectories.
MIT Department
Massachusetts Institute of Technology. Aerospace Controls Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.2514/6.2012-4777
