Modelling, identification and geometric control of autonomous quadcopters for agile maneuvering
Robotics
2023-06-19 v1 Systems and Control
Systems and Control
Abstract
This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method is to speed up the commissioning of a new quadcopter design, i.e., to enable the drone to perform agile maneuvers with high precision in the shortest time possible. After a brief introduction to the theoretical background of the modelling and control design, the steps of the proposed method are presented using the example of a self-developed quadcopter platform. The performance of the method is tested and evaluated by real flight experiments.
Keywords
Cite
@article{arxiv.2306.09651,
title = {Modelling, identification and geometric control of autonomous quadcopters for agile maneuvering},
author = {Péter Antal and Tamás Péni and Roland Tóth},
journal= {arXiv preprint arXiv:2306.09651},
year = {2023}
}