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CEAS EuroGNC 2019

Closed-loop MIMO data-driven attitude control design for a multirotor UAV
Angelo Zangarini Politecnico di Milano, Milano, Italy
Davide Invernizzi Politecnico di Milano, Milano, Italy
Pietro Panizza Politecnico di Milano, Milano, Italy
Marco Lovera Politecnico di Milano, Milano, Italy
Abstract:
Data-driven controller design methods allow a fast tuning of controller parameters directly from data, relying on limited prior knowledge of the plant dynamics. In this paper, the problem of tuning the attitude control system of a multirotor UAV is tackled and a data-driven approach is proposed. With respect to previous work, in this paper data collected in flight, during closed-loop experiments, is used to tune the controller gains. Furthermore, the simultaneous tuning of roll and pitch attitude control loops is demonstrated, thus paving the way to MIMO data-driven attitude control design. The results, based on experimental work carried out on a quadrotor UAV, show that a performance level comparable to that of model-based methods can be achieved.
Keywords: MAV experiments; MAV flight dynamics and control; Parameter estimation
 View PDF CEAS-GNC-2019-041


Angelo Zangarini, Davide Invernizzi, Pietro Panizza, Marco Lovera: Closed-loop MIMO data-driven attitude control design for a multirotor UAV. Proceedings of the 2019 CEAS EuroGNC conference. Milan, Italy. April 2019. CEAS-GNC-2019-041.
BibTeX entry:

@Incollection{CEAS-GNC-2019-041,
    authors = {Zangarini, Angelo and Invernizzi, Davide and Panizza, Pietro and Lovera, Marco},
    title = {Closed-loop {MIMO} data-driven attitude control design for a multirotor {UAV}},
    booktitle = {Proceedings of the 2019 {CEAS EuroGNC} conference},
    address = {Milan, Italy},
    month = apr,
    year = {2019},
    note = {CEAS-GNC-2019-041}
}