在纳秒四旋翼上高频率MPC实时可行性的研究
On Real-Time Feasibility of High-Rate MPC using an Active-Set Method on Nano-Quadcopters
AI总结：
本文提出了一种在纳四旋翼上以500Hz运行的双主动集求解器，验证了其在高频率控制中的实时可行性，并展示了通过主成分分析进行的实时认证方法。
摘要：
在纳尺度空中平台上部署模型预测控制具有挑战性，因为机载微控制器的计算限制很严重。本文提出了一项具有计算重点的实验研究，探讨了双主动集求解器（DAQP）在Crazyflie 2.1纳四旋翼低级控制中的应用。与以往使用一阶方法进行低级稳定化或限制主动集求解器用于高层控制的方法不同，本研究展示了双主动集方法在STM32F405微控制器上以500 Hz的速度成功部署。我们提供了一个直接的基准对比，与最先进的ADMM基于求解器（TinyMPC），揭示出主动集方法在考虑的飞行包线中具有更短的执行时间。此外，为了管理认证求解器实时可行性的复杂性，我们引入了一种使用主成分分析的数据驱动集合选择方法。使用这种方法，最先进的实时认证方法可以应用于在飞行前确认或拒绝实时可行性。更一般而言，实验结果验证了主动集方法在资源受限硬件上的高频率控制中是一个极具竞争力的替代方案，并且其实时认证的可能性增加了可靠性。
英文摘要：
Deploying Model Predictive Control on nano-scale aerial platforms is challenging due to the severe computational limitations of onboard microcontrollers. This paper presents an experimental study with computational focus of a dual active-set solver (DAQP) applied to the low-level control of a Crazyflie 2.1 nano-quadcopter. Unlike previous approaches that utilize first-order methods for low-level stabilization or restrict active-set solvers to high-level control, this work demonstrates the successful deployment of a dual active-set method executing at 500 Hz on an STM32F405 microcontroller. We provide a direct benchmark against a state-of-the-art ADMM-based solver (TinyMPC), revealing that the active-set method yields lower execution times for the flight envelopes considered. Furthermore, to manage the complexity of certifying the solver's real-time feasibility, we introduce a data-driven set selection method using Principal Component Analysis. Using this approach, state-of-the-art real-time certification methods can be applied to confirm or reject real-time feasibility already off-line prior to flight. More generally, the experimental results validate that active-set methods are a highly competitive alternative for high-frequency control on resource-constrained hardware and the possibility for their real-time certification adds reliability.
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