In this paper we present the design of Dynamic Surface Control (DSC) law for multirotor vehicles. We first propose a mathematical model which can be used for a wide class of multirotor vehicles. Then, we extend the classical DSC such that it can be applied to the proposed model for tracking pitch, roll, yaw and altitude. The DSC performances are compared with other nonlinear algorithms known in the literature, namely backstepping and sliding mode, as well as PID controller, where all the control laws were tuned via the same heuristic random search algorithm in order to ensure a fair comparison.
Dynamic Surface Control for Multirotor Vehicles / Baldini, Alessandro; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriu, Andrea. - ELETTRONICO. - (2018), pp. 424-431. (Intervento presentato al convegno 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018 tenutosi a Dallas Marriott City Center, 650 N. Pearl Str., usa nel 2018) [10.1109/ICUAS.2018.8453348].
Dynamic Surface Control for Multirotor Vehicles
Baldini, Alessandro;Felicetti, Riccardo;Freddi, Alessandro;Longhi, Sauro;Monteriu, Andrea
2018-01-01
Abstract
In this paper we present the design of Dynamic Surface Control (DSC) law for multirotor vehicles. We first propose a mathematical model which can be used for a wide class of multirotor vehicles. Then, we extend the classical DSC such that it can be applied to the proposed model for tracking pitch, roll, yaw and altitude. The DSC performances are compared with other nonlinear algorithms known in the literature, namely backstepping and sliding mode, as well as PID controller, where all the control laws were tuned via the same heuristic random search algorithm in order to ensure a fair comparison.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
