Data-driven controller design methods allow a fast tuning of controller parameters directly from data, relying on limited prior knowledge of the plant dynamics. In this paper, the problem of tuning the attitude control system of a multirotor UAV is tackled and a data-driven approach is proposed. With respect to previous work, in which open-loop experiments were carried out on a test bench allowing only a single attitude degree of freedom of the vehicle, in this paper data collected in flight, during closed-loop experiments, is used to tune the controller gains. The results, based on experimental work carried out on a small-scale quadrotor, show that a performance level comparable to that of model-based methods can be achieved.

Closed-Loop Data-Driven Attitude Control Design for a Multirotor UAV

Panizza, Pietro;Invernizzi, Davide;Lovera, Marco
2018-01-01

Abstract

Data-driven controller design methods allow a fast tuning of controller parameters directly from data, relying on limited prior knowledge of the plant dynamics. In this paper, the problem of tuning the attitude control system of a multirotor UAV is tackled and a data-driven approach is proposed. With respect to previous work, in which open-loop experiments were carried out on a test bench allowing only a single attitude degree of freedom of the vehicle, in this paper data collected in flight, during closed-loop experiments, is used to tune the controller gains. The results, based on experimental work carried out on a small-scale quadrotor, show that a performance level comparable to that of model-based methods can be achieved.
2018 IEEE Conference on Control Technology and Applications (CCTA)
978-1-5386-7698-1
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1072162
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