过驱动多旋翼全姿态跟踪的鲁棒控制
Full-Pose Tracking via Robust Control for Over-Actuated Multirotors
AI总结：
本文提出一种结合INDI与结构化H_inf控制的鲁棒级联架构，采用加权最小二乘优化分配实现过驱动多旋翼的全姿态跟踪，并通过六旋翼仿真验证其有效性。
摘要：
本文提出了一种用于过驱动多旋翼的鲁棒级联控制架构。它将最初为欠驱动多旋翼设计的增量非线性动态逆（INDI）控制与结构化H_inf控制相结合，并扩展到更广泛的多旋翼配置。为了实现精确且鲁棒的姿态和位置跟踪，我们采用了一种基于加权最小二乘的几何制导控制分配方法，该方法被表述为二次优化问题，从而实现全姿态跟踪。所提出的方法有效解决了关键挑战，例如防止不可行的姿态参考、增强对扰动的鲁棒性，以及考虑多旋翼的实际物理限制。使用过驱动六旋翼进行的数值仿真验证了该方法的有效性，展示了其对多样化任务场景的适应性及其在实际空中应用中的潜力。
英文摘要：
This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with structured H_inf control, initially proposed for under-actuated multirotors, to a broader range of multirotor configurations. To achieve precise and robust attitude and position tracking, we employ a weighted least-squares geometric guidance control allocation method, formulated as a quadratic optimization problem, enabling full-pose tracking. The proposed approach effectively addresses key challenges, such as preventing infeasible pose references and enhancing robustness against disturbances, as well as considering multirotor's actual physical limitations. Numerical simulations with an over-actuated hexacopter validate the method's effectiveness, demonstrating its adaptability to diverse mission scenarios and its potential for real-world aerial applications.
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。
