Control of Fully Actuated Unmanned Aerial Vehicles with Actuator Saturation*. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Convens, Bryan; Merckaert, Kelly; Nicotra, Marco M.; Naldi, Roberto; Garone, Emanuele
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 12715
• Page End: 12720
• Publication Date: 2017-07
• Subjects: Control of UAVs -- Nonlinear Control -- Constrained Control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1823
• Languages: English
• ISSNs: 2405-8963

Abstract

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.