A flatness-based saturated controller design for a quadcopter with experimental validation
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
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2023
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| _version_ | 1866916124352839680 |
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| author | Do, Huu-Thinh Blanchini, Franco Prodan, Ionela |
| author_facet | Do, Huu-Thinh Blanchini, Franco Prodan, Ionela |
| contents | Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an input mapping. This is a straightforward advantage for the quadcopter's controller design and its real-time implementation. However, one significant hindrance is that, while the dynamics become linear in the new coordinates (the flat output space), the input constraints become convoluted. This paper addresses an explicit pre-stabilization based control scheme which handles the input constraints for the quadcopter in the flat output space with a saturation component. The system's stability is shown to hold by Lyapunov-stability arguments. Moreover, the practical viability of the proposed method is validated both in simulation and experiments over a nano-drone platform. Hence, the flatness-based saturated controller not only ensures stability and constraints satisfaction, but also requires very low computational effort, allowing for embedded implementations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2303_18021 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | A flatness-based saturated controller design for a quadcopter with experimental validation Do, Huu-Thinh Blanchini, Franco Prodan, Ionela Systems and Control Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an input mapping. This is a straightforward advantage for the quadcopter's controller design and its real-time implementation. However, one significant hindrance is that, while the dynamics become linear in the new coordinates (the flat output space), the input constraints become convoluted. This paper addresses an explicit pre-stabilization based control scheme which handles the input constraints for the quadcopter in the flat output space with a saturation component. The system's stability is shown to hold by Lyapunov-stability arguments. Moreover, the practical viability of the proposed method is validated both in simulation and experiments over a nano-drone platform. Hence, the flatness-based saturated controller not only ensures stability and constraints satisfaction, but also requires very low computational effort, allowing for embedded implementations. |
| title | A flatness-based saturated controller design for a quadcopter with experimental validation |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2303.18021 |