Modelling, Identification and Geometric Control of Autonomous Quadcopters for Agile Manoeuvring

Abstract

This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identifies the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method is to speed up the commissioning of a new quadcopter design, i.e., to enable the drone to perform agile manoeuvres with high precision in the shortest time possible. After a brief introduction of the theoretical background of the modelling and control design, the steps of the proposed method are presented using the example of a real, self-developed quadcopter platform. The performance of the method is tested and evaluated by real flight experiments.