Nonlinear Inverse Dynamics Used to Control a Quadrocopter with Tiltable Rotors

Georg Scholz, Philipp Crocoll, G.F. Trommer

Abstract:	Micro Aerial Vehicles (MAV) with vertical takeoff and landing capabilities such as quadrocopters are often used as equipment carriers. They are carrying different kinds of payload which in most cases need to be aligned to some point of interest. In this paper a special type of MAVs will be presented: A quadrocopter with tiltable rotors which is able to perform independent velocity and attitude movements. This ability renders additional equipment to align the payload unnecessary. After a system description, the used control algorithm is explained. Basically the quadrocopter is controlled using non linear inverse dynamics (NID). In this paper two extensions of this approach are presented: The pseudo control hedging method removes the influence of the actuator dynamics from the control loop and artificial neural networks are used to eliminate the remaining non linear error from the control loop. Both extensions and their integration into the control algorithm are explained and the influence to the quality of control is demonstrated by simulation results.
Published in:	Proceedings of the 2015 International Technical Meeting of The Institute of Navigation January 26 - 28, 2015 Laguna Cliffs Marriott Dana Point, California
Pages:	745 - 755
Cite this article:	Scholz, Georg, Crocoll, Philipp, Trommer, G.F., "Nonlinear Inverse Dynamics Used to Control a Quadrocopter with Tiltable Rotors," Proceedings of the 2015 International Technical Meeting of The Institute of Navigation, Dana Point, California, January 2015, pp. 745-755.
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