Attitude control of multirotor UAVs: cascade P/PID vs PI-like architecture

G. Bressan; D. Invernizzi; S. Panza; M. Lovera

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CEAS EuroGNC 2019

Attitude control of multirotor UAVs: cascade P/PID vs PI-like architecture

G. Bressan	Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano, Italy
D. Invernizzi	Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano, Italy
S. Panza	Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano, Italy
M. Lovera	Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano, Italy

Abstract:
This paper addresses the attitude control problem for multirotor Unmanned Aerial Vehicles with the aim of comparing two nonlinear control architectures. The first controller is based on a nonlinear cascade design with a P/PID-like structure while the second one is a PI-like nonlinear controller that has been proposed to tackle the attitude tracking problem for rigid bodies. First, a general model for the attitude dynamics of multirotor UAVs is recalled. Then, the considered controllers are reviewed on both theoretical and practical aspects, focusing on their stabilizing properties, implementation and tuning issues. Finally, the control laws are systematically tuned by applying structured H-infinity synthesis to the linearized closed-loop dynamics obtained by referring to an identified single axis model of a lightweight quadrotor.

Keywords: MAV flight dynamics and control; Nonlinear control; Robust control

View PDF CEAS-GNC-2019-007

G. Bressan, D. Invernizzi, S. Panza, M. Lovera: Attitude control of multirotor UAVs: cascade P/PID vs PI-like architecture. Proceedings of the 2019 CEAS EuroGNC conference. Milan, Italy. April 2019. CEAS-GNC-2019-007.

BibTeX entry:

@Incollection{CEAS-GNC-2019-007,

    authors = {Bressan, G. and Invernizzi, D. and Panza, S. and Lovera, M.},

    title = {Attitude control of multirotor {UAVs}: cascade {P/PID} vs {PI}-like architecture},

    booktitle = {Proceedings of the 2019 {CEAS EuroGNC} conference},

    address = {Milan, Italy},

    month = apr,

    year = {2019},

    note = {CEAS-GNC-2019-007}

}