Safe and Robust Quadrotor Maneuvers Based on Reach Control

In this video, we demonstrate a novel control concept for safe and robust quadrocopter flight. We formulate the problem as a reach control problem. The result is a hybrid controller with different affine controllers being active in different parts of the state space. The video shows the very first demonstration of reach control in experiments; reach control had so far only been developed in theory.
*This work has been submitted to CDC 2015. If you are interested in a pre-print, please contact us at: schoellig (at sign) utias.utoronto.ca.*
Researchers: Marijan Vukosavljev, Ivo Jansen, Mireille E. Broucke, and Angela P. Schoellig.
Experiments conducted at the University of Toronto Institute for Aerospace Studies (UTIAS), Dynamic Systems Lab.
More information about the reach control theory (Prof. Broucke): www.control.toronto.edu/~broucke/.
More information about high-performance quadrocopter control (Prof. Schoellig): www.schoellig.name.

[@AngelaSchoellig]

New video of my group! First proof-of-concept demonstration of reach control on quadcopters for safe & robust flight!