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Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking

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2018, Master of Science, Ohio State University, Electrical and Computer Engineering.
Nonlinear systems are difficult to design a stabilizing and optimized control for, and with the increase of use of quadrotors by researchers, industry, and hobbyists, existing control methods should be analyzed to test the ability to control these devices. Many off-the-shelf quadrotors rely on onboard sensing and PID controllers to remain stable, however these devices are more commonly being used to perform fast obstacle avoidance and trajectory tracking, whose fast dynamics may not be trackable with PID controllers. We consider Linear Quadratic Regulator (LQR), iterative LQR, and Differential Flatness-based control methods to a quadrotor system to compare their performance to the onboard PID controllers. Considering a quadrotor used for tracking trajectories with a narrow corridor, the different controllers were designed and simulated using Matlab, applying interesting situations to test the robustness of the controllers, including noisy state measurements, delayed control action, and uncertainty in system parameters. In each scenario, the flatness-based control method is superior in robustly tracking the desired trajectory without requiring high computational power, possibly allowing the full control method to be implemented on a quadrotor microcontroller and improving the performance of the quadrotor's tracking abilities.
Wei Zhang (Advisor)
Ran Dai (Committee Member)
70 p.

Recommended Citations

Citations

  • Milburn, T. (2018). Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1532078119456277

    APA Style (7th edition)

  • Milburn, Tyler. Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking. 2018. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1532078119456277.

    MLA Style (8th edition)

  • Milburn, Tyler. "Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking." Master's thesis, Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1532078119456277

    Chicago Manual of Style (17th edition)