Flat trajectory design and tracking with saturation guarantees: a nano-drone application. Issue 6 (2nd June 2020)

• Record Type: Journal Article
• Authors: Nguyen, Ngoc Thinh; Prodan, Ionela; Lefèvre, Laurent
• Is Part Of: International journal of control. Volume 93:Issue 6(2020)
• Page Start: 1266
• Page End: 1279
• Publication Date: 2020-06-02
• Subjects: Trajectory planning -- trajectory tracking -- differential flatness -- B-spline parametrisation -- feedback linearisation -- nested saturation control -- nano-quadcopter platform; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2018.1502474
• Languages: English
• ISSNs: 0020-7179

Abstract

Abstract: This paper deals with the problem of trajectory planning and tracking of a quadcopter system based on the property of differential flatness. First, B-spline characterisations of the flat output allow for optimal trajectory generation subject to waypoint constraints, thrust and angle constraints while minimising the trajectory length. Second, the proposed tracking control strategy combines feedback linearisation and nested saturation control via flatness. The control strategy provides bounded inputs (thrust, roll and pitch angles) while ensuring the overall stability of the tracking error dynamics. The control parameters are chosen based on the information of the a priori given reference trajectory. Moreover, conditions for the existence of these parameters are presented. The effectiveness of the trajectory planning and the tracking control design is analysed and validated through simulation and experimental results over a real nano-quadcopter platform, the Crazyflie 2.0.