Full Pose Tracking for a Tilt-Arm Quadrotor UAV

Davide Invernizzi1, Mattia Giurato, Paolo Gattazzo1, Marco Lovera

  • 1Politecnico di Milano



Regular Session


10:00 - 12:00 | Wed 22 Aug | Kronborg | WeA5


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In this paper the modeling, control design and experimental validation of a tilt-arm quadrotor UAV are considered. We propose a control law that exploits the system actuation capabilities to address the full pose (position and attitude) trajectory tracking problem. For position tracking, we employ a quasi-time optimal solution that ensures global tracking and boundedness of the control force even in the presence of an unknown constant disturbance. The attitude tracking objective is handled by means of a geometric PID control law that accounts for a constant parasitic torque. Experimental results are provided to show the enhanced capabilities of thrust vectoring platforms with respect to coplanar multirotor ones and to assess the effectiveness of the control law.

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