Session

session3

Location

Space Dynamics Laboratory, Auditorium Rm C

Start Date

5-9-2022 9:15 AM

End Date

5-9-2022 9:25 AM

Description

We present a new quadrotor geometric control scheme that is capable of tracking highly aggressive trajectories. Our geometric controller uses the logarithmic map of SO(3) to express rotational error in the Lie algebra, and we show that it is globally attractive without requiring a complicated hybrid switching scheme. We show the performance of our controller against highly aggressive trajectories in simulation experiments. Additionally, we present an adaptation of this controller that allows us to interface effectively with the angular rate controllers on an onboard flight control unit and show the ability of this adapted control scheme to track aggressive trajectories on a quadrotor hardware platform.

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May 9th, 9:15 AM May 9th, 9:25 AM

Globally-Attractive Logarithmic Geometric Control of a Quadrotor for Aggressive Trajectory Tracking

Space Dynamics Laboratory, Auditorium Rm C

We present a new quadrotor geometric control scheme that is capable of tracking highly aggressive trajectories. Our geometric controller uses the logarithmic map of SO(3) to express rotational error in the Lie algebra, and we show that it is globally attractive without requiring a complicated hybrid switching scheme. We show the performance of our controller against highly aggressive trajectories in simulation experiments. Additionally, we present an adaptation of this controller that allows us to interface effectively with the angular rate controllers on an onboard flight control unit and show the ability of this adapted control scheme to track aggressive trajectories on a quadrotor hardware platform.