2023/06/16 by Antal, Péter, Péni, Tamás, Tóth, Roland · 1 citation
#FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2306.09651
This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method is to speed up the commissioning of a new quadcopter design, i.e., to enable the drone to perform agile maneuvers with high precision in the shortest time possible. After a brief introduction to the theoretical background of the modelling and control design, the steps of the proposed method are presented using the example of a self-developed quadcopter platform. The performance of the method is tested and evaluated by real flight experiments.