Robust nonlinear control approach to nontrivial maneuvers and obstacle avoidance for quadrotor UAV under disturbances

Yuyi Liu, Sujit Rajappa, Jan Maximilian Montenbruck, Paolo Stegagno, Heinrich Bulthoff, Frank Allgöwer, Andreas Zell

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

In this paper, we present an onboard robust nonlinear control approach for quadrotor Unmanned Aerial Vehicles (UAVs) in the environments with disturbances and obstacles. The complete framework consists of an attitude controller based on the solution of global output regulation problems for SO(3), a backstepping-like position controller, a 6-dimensional wrench observer to estimate the unknown force and torque disturbances, and an online trajectory planner based on a model predictive control method with obstacle avoiding constraints. We prove the strong convergence properties of the proposed method both in theory and via real-robot experiments. The control approach is onboard implemented on a quadrotor UAV, and has been validated through intensive experiments and compared with other nonlinear control methods for waypoint navigation and large-tilted path following tasks in the presence of external disturbances, e.g. wind gusts. The presented approach has also been evaluated in the scenarios with randomly located obstacles.

Original languageEnglish
Pages (from-to)317-332
Number of pages16
JournalRobotics and Autonomous Systems
Volume98
DOIs
Publication statusPublished - 2017 Dec 1
Externally publishedYes

Fingerprint

Obstacle Avoidance
Nonlinear Control
Collision avoidance
Unmanned aerial vehicles (UAV)
Robust Control
Disturbance
Output Regulation
Controller
Hand tools
Path Following
Controllers
Backstepping
Model predictive control
Model Predictive Control
Strong Convergence
Convergence Properties
Torque
Experiment
Navigation
Observer

Keywords

  • Aerial robotics
  • Nonlinear observer
  • Obstacle avoidance
  • Robust control
  • Unmanned Aerial Vehicles

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Cite this

Robust nonlinear control approach to nontrivial maneuvers and obstacle avoidance for quadrotor UAV under disturbances. / Liu, Yuyi; Rajappa, Sujit; Montenbruck, Jan Maximilian; Stegagno, Paolo; Bulthoff, Heinrich; Allgöwer, Frank; Zell, Andreas.

In: Robotics and Autonomous Systems, Vol. 98, 01.12.2017, p. 317-332.

Research output: Contribution to journalArticle

Liu, Yuyi ; Rajappa, Sujit ; Montenbruck, Jan Maximilian ; Stegagno, Paolo ; Bulthoff, Heinrich ; Allgöwer, Frank ; Zell, Andreas. / Robust nonlinear control approach to nontrivial maneuvers and obstacle avoidance for quadrotor UAV under disturbances. In: Robotics and Autonomous Systems. 2017 ; Vol. 98. pp. 317-332.
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