无速度测量的垂直起降无人机指数稳定基于观测器的控制器
Exponentially Stable Observer-based Controller for VTOL-UAVs without Velocity Measurements
AI总结：
针对垂直起降无人机无速度测量的控制需求，提出李群上的全状态观测器及基于观测器的控制器，实现几乎全局指数稳定，仅靠视觉地标即可工作，并通过仿真与真实飞行数据验证。
摘要：
对于既能利用全球定位系统（GPS）运行，又能在GPS信号丢失和陀螺仪故障时保持鲁棒性的基于视觉的机器人解决方案，目前存在巨大需求。本文研究了六自由度（6 DoF）垂直起降（Vertical Take-Off and Landing, VTOL）无人机（Unmanned Aerial Vehicle, UAV）的估计与跟踪控制问题。论文在李群$\text{SE}_2(3)\times\boldsymbol{\text{R}}^3=\text{SO}(3)\times\boldsymbol{\text{R}}^9$上提出了一种用于估计VTOL-UAV运动参数（姿态、角速度、位置和线速度）的全状态观测器，其闭环误差信号具有几乎全局指数稳定性。随后，论文在该李群上提出了一种基于全状态观测器的VTOL-UAV运动参数控制器，该控制器保证了几乎全局指数稳定性。所提方法无需角速度和线速度测量（无需陀螺仪和GPS信号），仅利用视觉辅助单元（单目或立体相机）获取的一组已知地标即可取得良好效果。附录中提供了$\text{S}^3\times\boldsymbol{\text{R}}^9$上的等效四元数表示。该基于观测器的控制器以连续形式给出，其离散版本则通过包含大初始误差和不确定测量的VTOL-UAV仿真进行了测试。此外，所提观测器还在真实无人机飞行数据集上进行了实验测试。关键词：无人机，非线性滤波算法，自主导航，跟踪控制，特征测量，基于观测器的控制器，定位，指数稳定性，渐近稳定性，惯性测量单元（IMU），全球定位系统（GPS），视觉辅助惯性导航系统。
英文摘要：
There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking control in application to a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in six degrees of freedom (6 DoF). A full state observer for the estimation of VTOL-UAV motion parameters (attitude, angular velocity, position, and linear velocity) is proposed on the Lie Group of $\mathbb{SE}_{2}\left(3\right)\times\mathbb{R}^{3}$ $=\mathbb{SO}\left(3\right)\times\mathbb{R}^{9}$ with almost globally exponentially stable closed loop error signals. Thereafter, a full state observer-based controller for the VTOL-UAV motion parameters is proposed on the Lie Group with a guaranteed almost global exponential stability. The proposed approach produces good results without the need for angular and linear velocity measurements (without a gyroscope and GPS signals) utilizing only a set of known landmarks obtained by a vision-aided unit (monocular or stereo camera). The equivalent quaternion representation on $\mathbb{S}^{3}\times\mathbb{R}^{9}$ is provided in the Appendix. The observer-based controller is presented in a continuous form while its discrete version is tested using a VTOL-UAV simulation that incorporates large initial error and uncertain measurements. The proposed observer is additionally tested experimentally on a real-world UAV flight dataset. Keywords: Unmanned aerial vehicle, nonlinear filter algorithm, autonomous navigation, tracking control, feature measurement, observer-based controller, localization, exponential stability, asymptotic stability, inertial measurement unit (IMU), Global Positioning Systems (GPS), vision aided inertial navigation system.
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。
