In this paper, the problem of tuning a cascade attitude control system of a variable-pitch quadrotor UAV is tackled, adopting a fast data-driven procedure based on a modified Virtual Reference Feedback Tuning (VRFT) approach. The proposed method allows to tune both the inner and the outer loops by means of a single set of experimental data. More precisely, the pitch attitude degree of freedom of the vehicle is considered, operating the quadrotor indoor on a dedicated test bench. The achieved control performance is compared with the one obtained by applying a model-based structured H∞ synthesis approach to a black-box model of the pitch dynamics.

Data-driven attitude control law design for a variable-pitch quadrotor

PANIZZA, PIETRO;INVERNIZZI, DAVIDE;RICCARDI, FABIO;FORMENTIN, SIMONE;LOVERA, MARCO
2016-01-01

Abstract

In this paper, the problem of tuning a cascade attitude control system of a variable-pitch quadrotor UAV is tackled, adopting a fast data-driven procedure based on a modified Virtual Reference Feedback Tuning (VRFT) approach. The proposed method allows to tune both the inner and the outer loops by means of a single set of experimental data. More precisely, the pitch attitude degree of freedom of the vehicle is considered, operating the quadrotor indoor on a dedicated test bench. The achieved control performance is compared with the one obtained by applying a model-based structured H∞ synthesis approach to a black-box model of the pitch dynamics.
2016 American Control Conference (ACC)
978-1-4673-8682-1
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/997785
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