Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force

Dariusz Horla (1) , Mahmoud Hamandi (2) , Wojciech Giernacki (1) , Antonio Franchi (2, 3)

1 PUT - Poznan University of Technology
2 LAAS-RIS - Équipe Robotique et InteractionS
3 University of Twente

This letter shows for the first time why it is important and how to optimize the gains of a position controller on board of a fully-actuated aerial vehicle with bounded lateral force, via an auto-tuning approach. In such vehicles, most of the control authority is expressed along a principal thrust direction, while along the lateral directions smaller forces can be exploited to achieve full-pose tracking. The nonlinear and hard to model interplay between the constraint imposed on the lateral force and the gains of the position controller is overcome employing the OPTIM-tune calibration method. Several experimental tests, performed fully autonomously during flight, clearly show the practicability and benefits of the approach.

Mots clés: Aerial Systems: Mechanics and Control; Aerial Systems: Applications; Motion Control

Domaines: Robotique [cs.RO]

Dariusz Horla, Mahmoud Hamandi, Wojciech Giernacki, Antonio Franchi. Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force. IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3949 - 3955. ⟨10.1109/LRA.2021.3067229⟩. ⟨hal-02970615v2⟩