Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles With Bounded Lateral Force

This letter shows for the first time why it is important and how to optimize gains of a position controller on board fully-actuated aerial vehicle with bounded lateral force, via an auto-tuning approach. In such vehicles, most control authority expressed along principal thrust direction, while directions smaller forces can be exploited achieve full-pose tracking. The nonlinear hard model interplay between constraint imposed force overcome by employing OPTIM-tune calibration method. Several experimental tests, performed fully autonomously during flight, clearly show practicability benefits