A Digital Control Architecture for Quadrotor Aircraft
نویسندگان
چکیده
We show that the principal attitude and inertial dynamics of a quadrotor aircraft can be decomposed into a cascade of three passive and one interior conic subsystem such that a proportional digital feedback loop can effectively be applied to each subsystem in a nested manner. This proportional feedback architecture includes one saturation block nested between the attitude and inertial control systems to account for actuator saturation. Our architecture can control yaw independently of the desired inertial position. Stability of this architecture can be verified in both simulation and runtime through the following corollary derived from the sector stability theorem of Zames and later Willems. The corollary applies to the control of a dynamic system H1 : x1 → y1 which is inside the sector [a1, b1], in which −∞ < a1 < 0, 0 < b1 ≤ ∞, and b1 > a1 . It states that if a negative feedback controller with reference r1 and control gain k1 < − 1 a1 is applied to H1 : x1 → y1 such that x1 = k1(r1 − y1) then the closed loop system Hcl−1 : r1 → y1 is L m 2 (l m 2 ) stable. Simulations indicate the controller performs exceptionally well when applied to detailed STARMAC and Hummingbird aircraft models which includes blade flapping effects.
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