Print Email Facebook Twitter Time-Optimal Control for Tiny Quadcopters Title Time-Optimal Control for Tiny Quadcopters Author Westenberger, Jelle (TU Delft Aerospace Engineering) Contributor de Croon, G.C.H.E. (mentor) de Wagter, C. (graduation committee) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2021-03-23 Abstract Time-optimal model-predictive control is essential in achieving fast and adaptive quadcopter flight. Due to the limited computational performance of onboard hardware, aggressive flight approaches have relied on off-line trajectory optimization processes or non time-optimal methods. In this work we propose a computational efficient model predictive controller (MPC) that approaches time-optimal flight and runs onboard a consumer quadcopter. The proposed controller is built on the principle that constrained optimal control problems (OCPs) have a so-called 'bang-bang' solution. Our solution plans a bang-bang maneuver in the critical direction while aiming for a 'minimum-effort' approach in non-critical direction. Control parameters are computed by means of a bisection scheme using an analytical path prediction model. The controller has been compared with a classical PID controller and theoretical time-optimal trajectories in simulations. We identify the consequences of the OCP simplifications and propose a method to mitigate one of these effects. Finally, we have implemented the proposed controller onboard a consumer quadcopter and performed indoor flights to compare the controller's performance to a PID controller. Flight experiments have shown that the controller runs at 512hz onboard a Parrot Bebop quadcopter and is capable of fast, saturated flight, outperforming traditional PID controllers in waypoint-to-waypoint flight while requiring only minimal knowledge of the quadcopter's dynamics. Subject Optimal ControlModel Predictive ControlUnmanned Aerial Vehiclemicro air vehicles To reference this document use: http://resolver.tudelft.nl/uuid:665779ce-5080-43da-8519-4cd17e2f105d Part of collection Student theses Document type master thesis Rights © 2021 Jelle Westenberger Files PDF MScThesis_Jelle_Westenberger.pdf 12.48 MB Close viewer /islandora/object/uuid:665779ce-5080-43da-8519-4cd17e2f105d/datastream/OBJ/view