arXiv 2201.037112022-01-07eess.SYcs.SY

多状态约束下四旋翼飞行器的鲁棒轨迹跟踪与载荷投放

Robust Trajectory Tracking and Payload Delivery of a Quadrotor Under Multiple State Constraints

Sourish Ganguly

摘要：

随着四旋翼在救援行动、基础设施维护等应用中变得非常流行，当四旋翼必须在各种操作场景期间操纵通过受限空间时，出现了关键的控制设计挑战：例如，在预定速度和空间内检查管道，在狭窄空间下的精确位置处投放救援材料等，在面对参数不确定性和外部干扰的情况下。为了解决这种情况下，控制器需要确保预定义的跟踪精度，以便不违反约束，同时解决不确定性和干扰。然而，国家的最先进的控制器处理约束系统运动要么不适用于欠驱动系统，如四旋翼，或不能解决系统的不确定性下的全状态约束。本文试图通过设计基于障碍李雅普诺夫函数（BLF）的鲁棒控制器来满足多个状态约束，同时协调参数不确定性和外部干扰，从而填补这一空白。的BLF控制方法的优越性，一个典型的无约束控制器的证明，其次是鲁棒控制设计，以满足四旋翼动力学的位置和方向约束。最后，四旋翼上的全状态约束（即，对位置、方向、线速度和角速度的约束）由鲁棒控制满足。对于每个控制设计，闭环系统的稳定性进行了研究分析和设计的有效性进行了广泛验证，无论是通过现实的仿真场景，或通过一个真正的四旋翼上进行的实验。

英文摘要：

With quadrotors becoming immensely popular in applications such as relief operations, infrastructure maintenance etc., a key control design challenge arises when the quadrotor has to manoeuvre through constrained spaces during various operational scenarios: for example, inspecting a pipeline within predefined velocity and space, dropping relief material at a precise location under tight spaces etc., under the face of parametric uncertainties and external disturbances. To tackle such scenarios, a controller needs to ensure a predefined tracking accuracy so as not to violate the constraints while simultaneously tackling uncertainties and disturbances. However, state-of-the-art controllers dealing with constrained system motion are either not applicable for an underactuated system like quadrotor, or cannot tackle system uncertainties under full state constraints. This work attempts to fill such a gap in literature by designing Barrier Lyapunov Function (BLF) based robust controllers to satisfy multiple state-constraints while simultaneously negotiating parametric uncertainties and external disturbances. The superiority of the BLF control method over a typical unconstrained controller is demonstrated, followed by a robust control design to satisfy position and orientation constraints on quadrotor dynamics. Finally, full state-constraints on a quadrotor(i.e., constraints on the position, orientation, linear velocity and angular velocity) are satisfied with robust control. For each control design, the closed-loop system stability is studied analytically and the efficacy of the design is validated extensively either via realistic simulation scenarios or via experiments performed on a real quadrotor.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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