Title: Body-centric modelling, identification, and acceleration tracking control of a quadrotor UAV

Authors: Mohamad T. Alkowatly; Victor M. Becerra; William Holderbaum

Addresses: School of Systems Engineering, University of Reading, Reading, RG6 6AX, UK ' School of Systems Engineering, University of Reading, Reading, RG6 6AX, UK ' School of Systems Engineering, University of Reading, Reading, RG6 6AX, UK

Abstract: This paper presents the mathematical development of a body-centric nonlinear dynamic model of a quadrotor UAV that is suitable for the development of biologically inspired navigation strategies. Analytical approximations are used to find an initial guess of the parameters of the nonlinear model, then parameter estimation methods are used to refine the model parameters using the data obtained from onboard sensors during flight. Owing to the unstable nature of the quadrotor model, the identification process is performed with the system in closed-loop control of attitude angles. The obtained model parameters are validated using real unseen experimental data. Based on the identified model, a linear quadratic (LQ) optimal tracker is designed to stabilise the quadrotor and facilitate its translational control by tracking body accelerations. The LQ tracker is tested on an experimental quadrotor UAV and the obtained results are a further means to validate the quality of the estimated model. The unique formulation of the control problem in the body frame makes the controller better suited for bio-inspired navigation and guidance strategies than conventional attitude or position-based control systems that can be found in the existing literature.

Keywords: quadrotor UAVs; unmanned aerial vehicles; dynamic modelling; system identification; linear quadratic tracking; body-centric modelling; nonlinear modelling; acceleration tracking control; biologically inspired navigation; bio-inspired navigation; parameter estimation; onboard sensors; UAV navigation; UAV guidance.

DOI: 10.1504/IJMIC.2015.071697

International Journal of Modelling, Identification and Control, 2015 Vol.24 No.1, pp.29 - 41

Received: 16 Apr 2014
Accepted: 26 Nov 2014
Published online: 15 Sep 2015 *

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