Control of Fully Actuated Unmanned Aerial Vehicles with Actuator Saturation

Bryan Convens; Kelly Merckaert; Marco Nicotra; Roberto Naldi; Emanuele Garone

doi:10.1016/j.ifacol.2017.08.1823

Control of Fully Actuated Unmanned Aerial Vehicles with Actuator Saturation

Bryan Convens, Kelly Merckaert, Marco Nicotra, Roberto Naldi, Emanuele Garone

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

26 Citations (Scopus)

49 Downloads (Pure)

Abstract

A natural way to control fully actuated UAVs is the use of feedback linearization. Indeed, given a sufficiently good knowledge of UAV mechanical properties, the resulting closed-loop system is linear and well-suited for further developments (e.g. impedance-based control for physical interactions). In the presence of actuator saturation, however, feedback linearization can lead to undesired and sometimes even unstable behaviors. To overcome this problem, this paper introduces a novel Explicit Reference Governor scheme which is particularly well suited for closed-loop systems with linear dynamics and nonlinear state and input constraints. The advantages of the proposed scheme are illustrated using numerical simulations.

Original language	English
Title of host publication	International Federation of Automatic Control
Publisher	Elsevier
Pages	12715-12720
Number of pages	6
Volume	50
Edition	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.1823
Publication status	Published - Oct 2017
Event	20th IFAC International World Congress - Toulouse, France Duration: 9 Jul 2017 → 14 Jul 2017 https://www.ifac2017.org/

Publication series

Name	IFAC PAPERSONLINE
ISSN (Print)	2405-8963

Conference

Conference	20th IFAC International World Congress
Country/Territory	France
City	Toulouse
Period	9/07/17 → 14/07/17
Internet address	https://www.ifac2017.org/

Keywords

Constrained Control
Control of UAVs
Nonlinear Control

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10.1016/j.ifacol.2017.08.1823

Cite this

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title = "Control of Fully Actuated Unmanned Aerial Vehicles with Actuator Saturation",

abstract = "A natural way to control fully actuated UAVs is the use of feedback linearization. Indeed, given a sufficiently good knowledge of UAV mechanical properties, the resulting closed-loop system is linear and well-suited for further developments (e.g. impedance-based control for physical interactions). In the presence of actuator saturation, however, feedback linearization can lead to undesired and sometimes even unstable behaviors. To overcome this problem, this paper introduces a novel Explicit Reference Governor scheme which is particularly well suited for closed-loop systems with linear dynamics and nonlinear state and input constraints. The advantages of the proposed scheme are illustrated using numerical simulations.",

keywords = "Constrained Control, Control of UAVs, Nonlinear Control",

author = "Bryan Convens and Kelly Merckaert and Marco Nicotra and Roberto Naldi and Emanuele Garone",

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doi = "10.1016/j.ifacol.2017.08.1823",

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T1 - Control of Fully Actuated Unmanned Aerial Vehicles with Actuator Saturation

AU - Convens, Bryan

AU - Merckaert, Kelly

AU - Nicotra, Marco

AU - Naldi, Roberto

AU - Garone, Emanuele

PY - 2017/10

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N2 - A natural way to control fully actuated UAVs is the use of feedback linearization. Indeed, given a sufficiently good knowledge of UAV mechanical properties, the resulting closed-loop system is linear and well-suited for further developments (e.g. impedance-based control for physical interactions). In the presence of actuator saturation, however, feedback linearization can lead to undesired and sometimes even unstable behaviors. To overcome this problem, this paper introduces a novel Explicit Reference Governor scheme which is particularly well suited for closed-loop systems with linear dynamics and nonlinear state and input constraints. The advantages of the proposed scheme are illustrated using numerical simulations.

AB - A natural way to control fully actuated UAVs is the use of feedback linearization. Indeed, given a sufficiently good knowledge of UAV mechanical properties, the resulting closed-loop system is linear and well-suited for further developments (e.g. impedance-based control for physical interactions). In the presence of actuator saturation, however, feedback linearization can lead to undesired and sometimes even unstable behaviors. To overcome this problem, this paper introduces a novel Explicit Reference Governor scheme which is particularly well suited for closed-loop systems with linear dynamics and nonlinear state and input constraints. The advantages of the proposed scheme are illustrated using numerical simulations.

KW - Constrained Control

KW - Control of UAVs

KW - Nonlinear Control

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U2 - 10.1016/j.ifacol.2017.08.1823

DO - 10.1016/j.ifacol.2017.08.1823

M3 - Conference paper

VL - 50

T3 - IFAC PAPERSONLINE

SP - 12715

EP - 12720

BT - International Federation of Automatic Control

PB - Elsevier

T2 - 20th IFAC International World Congress

Y2 - 9 July 2017 through 14 July 2017

ER -

Control of Fully Actuated Unmanned Aerial Vehicles with Actuator Saturation

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