Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles With Bounded Lateral Force
Dariusz Horla, Mahmoud Hamandi, Wojciech Giernacki, Antonio Franchi
Abstract
This letter shows for the first time why it is important and how to optimize the gains of a position controller on board of a fully-actuated aerial vehicle with bounded lateral force, via an auto-tuning approach. In such vehicles, most of the control authority is expressed along a principal thrust direction, while along lateral directions smaller forces can be exploited to achieve full-pose tracking. The nonlinear and hard to model interplay between the constraint imposed on the lateral force and the gains of the position controller is overcome by employing the OPTIM-tune calibration method. Several experimental tests, performed fully autonomously during flight, clearly show the practicability and benefits of the approach.