Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors

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 fits a time-parametrized polynomial through any number of waypoints in R, with a closed-form solution if the corresponding waypoint arrival times are known a priori. When time is not specified, an algorithm for finding minimum-time paths subject to hardware actuator saturation limitations is presented. Attitude-specific 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 variablepitch quadrotor demonstrate the control design and example trajectories.