Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles With Bounded Lateral Force

Dariusz Horla, Mahmoud Hamandi, Wojciech Giernacki, Antonio Franchi

Research output: Contribution to journalArticleAcademicpeer-review

10 Citations (Scopus)
23 Downloads (Pure)

Abstract

This letter shows for the first time why it is important and how to optimize the gains of a position controller on board of a fully-actuated aerial vehicle with bounded lateral force, via an auto-tuning approach. In such vehicles, most of the control authority is expressed along a principal thrust direction, while along lateral directions smaller forces can be exploited to achieve full-pose tracking. The nonlinear and hard to model interplay between the constraint imposed on the lateral force and the gains of the position controller is overcome by employing the OPTIM-tune calibration method. Several experimental tests, performed fully autonomously during flight, clearly show the practicability and benefits of the approach.
Original languageEnglish
Article number9381598
Pages (from-to)3949-3955
Number of pages7
JournalIEEE Robotics and automation letters
Volume6
Issue number2
DOIs
Publication statusPublished - 1 Apr 2021

Keywords

  • Force
  • Vehicle dynamics
  • Propellers
  • Tuning
  • Robots
  • Dynamics
  • Attitude control

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