Aggressive maneuvers of a quadrotor MAV based on composite nonlinear feedback control

摘要

Aggressive maneuvers for micro unmanned aerial vehicle (MAV) require short settling time for attitude reference tracking and small overshoot for stabilization, which leads to the implementation of composite nonlinear feedback (CNF) control method. In this paper, an MAV platform is customized with all of the sub-systems designed to be small in size factor and simplified with their functionality. A tiny avionic system with inertial navigation system (INS) is designed to be the core of flight controller for attitude estimation and control implementation. Thrust-vector orientation based method is adopted to analyze the aggressive motions of MAV, which solves the non-linearity in kinematic part. For the angle error cancellation, CNF method has features of removing the non-linearity and fast reference tracking without sacrificing the tracking performance. In particular, we have compared the control performance of CNF control technique with the pole placement method, where the former outperformed the latter in both settling time and overshoot reduction.