Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles

M. Hamandi, M.Tognon [Unknown], A. Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)


In this paper we propose to control a quadrotor through direct acceleration feedback. The proposed method, while simple in form, alleviates the need for accurate estimation of platform parameters such as mass and propeller effectiveness. In order to use efficaciously the noisy acceleration measurements in direct feedback, we propose a novel regression-based filter that exploits the knowledge on the commanded propeller speeds, and extracts smooth platform acceleration with minimal delay. Our tests show that the controller exhibits a few millimeter error when performing real world tasks with fast changing mass and effectiveness, e.g., in pick and place operation and in turbulent conditions. Finally, we benchmark the direct acceleration controller against the PID strategy and show the clear advantage of using high-frequency and low-latency acceleration measurements directly in the control feedback, especially in the case of low frequency position measurements that are typical for real outdoor conditions.
Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationParis, France
Number of pages1
Publication statusPublished - 1 May 2020
EventInternational Conference on Robotics and Automation, ICRA 2020 - Virtual Conference, Paris, France
Duration: 31 May 202031 Aug 2020


ConferenceInternational Conference on Robotics and Automation, ICRA 2020
Abbreviated titleICRA 2020
Internet address


  • aerialcore


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