Print Email Facebook Twitter Actuator Saturation Handling using Weighted Optimal Control Allocation Applied to an INDI Controlled Quadcopter Title Actuator Saturation Handling using Weighted Optimal Control Allocation Applied to an INDI Controlled Quadcopter Author Höppener, D.C. Contributor de Wagter, C. (mentor) Faculty Aerospace Engineering Department Control & Operations Programme Control & Simulation Date 2016-10-27 Abstract Incremental Nonlinear Dynamic Inversion provides a high performance attitude controller for multi-rotor Micro Aerial Vehicles by providing very good disturbance rejection capabilities. Flights conducted with a quadcopter revealed undesired pitch and rolling motions which occurred simultaneously with actuator saturation for instantaneous yaw angle reference tracking commands. Constrained control allocation methods can increase the system's performance by providing an effective strategy to prioritize control objectives, and redistribute control effort accordingly. Weighted Least Squares control allocation makes the constrained control allocation problem a quadratic optimization problem. An iterative solver based on the computationally efficient active-set algorithm finds the optimal control distribution for a weighted control objective. In this paper the Weighted Least Squares control allocator is used to overcome two challenges 1) increase performance by applying prioritization between control objectives and redistribute control effort accordingly, accounting for the actuator limits 2) enable flight when flying with severely compromised actuator(s). Real-world flight experiments are performed and show a significant increase in performance for high load yaw maneuvers, and enabled a quadcopter to perform controlled flight with a severely compromised actuator Subject quadcopterconstrained control allocationsaturation handlingaggressive maneuveringquadratic programmingactive setWLS control allocatorSLS control allocator To reference this document use: http://resolver.tudelft.nl/uuid:3704b044-b9bf-454a-8678-0d140bd1d308 Embargo date 2016-10-27 Part of collection Student theses Document type master thesis Rights (c) 2016 Höppener, D.C. Files PDF Prioritized Control Alloc ... ppener.pdf 3.72 MB Close viewer /islandora/object/uuid:3704b044-b9bf-454a-8678-0d140bd1d308/datastream/OBJ/view