Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force - Université Savoie Mont Blanc Access content directly
Journal Articles IEEE Robotics and Automation Letters Year : 2021

Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force

Abstract

This letter shows for the first time why it is important and how to optimize the gains of a position controller on board of a fully-actuated aerial vehicle with bounded lateral force, via an auto-tuning approach. In such vehicles, most of the control authority is expressed along a principal thrust direction, while along the lateral directions smaller forces can be exploited to achieve full-pose tracking. The nonlinear and hard to model interplay between the constraint imposed on the lateral force and the gains of the position controller is overcome employing the OPTIM-tune calibration method. Several experimental tests, performed fully autonomously during flight, clearly show the practicability and benefits of the approach.
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Dates and versions

hal-02970615 , version 1 (18-10-2020)
hal-02970615 , version 2 (02-02-2021)

Identifiers

Cite

Dariusz Horla, Mahmoud Hamandi, Wojciech Giernacki, Antonio Franchi. Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force. IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3949 - 3955. ⟨10.1109/LRA.2021.3067229⟩. ⟨hal-02970615v2⟩
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