Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors

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.