Nonlinear Control of a Dual-Quadrotor Assembly
A. Dzaba and E. Schuster
American Control Conference
Washington, DC, USA, June 17-19, 2013
Abstract
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In response to the need for accurate position sensing in unmanned
aerial vehicles (UAVs), we propose a concept aircraft in the form of a
mobile global vision system. The dual-quad prototype resembles a
miniature quadrotor nesting within a larger quadrotor. Inspired by the
gaze stabilization abilities of hunting birds, the inner quadrotor is
used as an actively stabilized sensor deck, while the outer quadrotor
is used as a position-control flight deck. The sensor deck is
stabilized to impose motion constraints on the visual odometry problem.
This reduces the computational expense of implementing a vision system
on a UAV where resources are limited. We propose a combination of
feedback linearization, nonlinear transformation, and backstepping
control. Results for aggressive flight maneuvers are demonstrated in
simulation.