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.
|Titolo:||Data-driven attitude control law design for a variable-pitch quadrotor|
|Data di pubblicazione:||2016|
|Appare nelle tipologie:||04.1 Contributo in Atti di convegno|
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|PANIP01-16.pdf||Paper||Publisher’s version||Accesso riservato|