Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty
Résumé
In this work, we provide an experimental vali-
dation of the recent concepts of closed-loop state and input
sensitivity in the context of robust flight control for a quadrotor
(UAV) equipped with the popular PX4 controller. Our objective
is to experimentally assess how the optimization of the reference
trajectory w.r.t. these sensitivity metrics can improve the closed-
loop system performance against model uncertainties commonly
affecting the quadrotor systems. To accomplish this, we present
a series of experiments designed to validate our optimization
approach on two distinct trajectories, with the primary aim
of assessing its precision in guiding the quadrotor through the
center of a window at relatively high speeds. This approach
provides some interesting insights for increasing the closed-
loop robustness of the robot state and inputs against physical
parametric uncertainties that may degrade the system’s perfor-
mance.
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