Linear Parameter-Varying Control for Quadrotors in Case of Complete Actuator Loss

作者：Johannes Stephan, Lorenz Schmitt, Walter Fichter · 发表于：Journal of Guidance Control and Dynamics · 年份：2018 · DOI：10.2514/1.g003441 · 被引用次数：37 · 研究领域：Adaptive Control of Nonlinear Systems、Guidance and Control Systems、Advanced Control Systems Optimization

Engine failure or propeller disintegration poses a significant risk to the operation of quadrotors. Total loss of a propulsion unit leads to an underactuated configuration such that the number of operable actuators is lower than the number of controlled variables. One strategy to deal with this scenario is to sacrifice control over the yaw motion. Attitude control is then limited to the alignment of the thrust axis while the quadrotor rotates freely about this axis. Previous work on this subject was built on dynamic inversion or linearization of the rigid-body motion with respect to a stationary angular velocity of the spinning quadrotor. This paper considers the application of linear parameter-varying (LPV) modeling and control techniques with the yaw rate acting as a time-varying scheduling parameter. Based on a multivariable LPV control law, validity and performance of the closed-loop is guaranteed for nonstationary flight conditions such as the initial transient after an actuator loss occurs. Outdoor flight results relying on standard on-board sensors demonstrate the ability of the approach to serve as a recovery procedure for quadrotors in actuator loss scenarios.