Simultaneous attitude control and trajectory tracking of a micro quadrotor: a SNAC aided nonlinear dynamic inversion approach

Tiwari, Shivendra N and Padhi, Radhakant (2013) Simultaneous attitude control and trajectory tracking of a micro quadrotor: a SNAC aided nonlinear dynamic inversion approach. In: 2013 American Control Conference (ACC), 17-19 June 2013, Washington, DC, pp. 194-199.

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Abstract

This paper presents an advanced single network adaptive critic (SNAC) aided nonlinear dynamic inversion (NDI) approach for simultaneous attitude control and trajectory tracking of a micro-quadrotor. Control of micro-quadrotors is a challenging problem due to its small size, strong coupling in pitch-yaw-roll and aerodynamic effects that often need to be ignored in the control design process to avoid mathematical complexities. In the proposed SNAC aided NDI approach, the gains of the dynamic inversion design are selected in such a way that the resulting controller behaves closely to a pre-synthesized SNAC controller for the output regulation problem. However, since SNAC is based on optimal control theory, it makes the dynamic inversion controller to operate near optimal and enhances its robustness property as well. More important, it retains two major benefits of dynamic inversion: (i) closed form expression of the controller and (ii) easy scalability to command tracking application even without any apriori knowledge of the reference command. Effectiveness of the proposed controller is demonstrated from six degree-of-freedom simulation studies of a micro-quadrotor. It has also been observed that the proposed SNAC aided NDI approach is more robust to modeling inaccuracies, as compared to the NDI controller designed independently from time domain specifications.

Item Type:	Conference Paper
Series.:	Proceedings of the American Control Conference
Publisher:	IEEE
Additional Information:	Copyright of this article belongs to IEEE.
Keywords:	Single Network Adaptive Critic; SNAC; Dynamic Inversion; Quadrotor; SNAC aided NDI
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	20 Dec 2013 09:37
Last Modified:	20 Dec 2013 09:37
URI:	http://eprints.iisc.ac.in/id/eprint/48077

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