DQ-MPCC：用于四旋翼竞速的双四元数MPCC
DQ-MPCC: Dual-Quaternion MPCC for Quadrotor Racing
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中文总结 AI 辅助
针对四旋翼竞速，提出基于双四元数的模型预测轮廓控制（DQ-MPCC），在统一位姿-扭转坐标中投影误差，仿真与实飞均优于基线，提升穿越精度并缩短圈速。
中文摘要 AI 辅助
四旋翼竞速要求在通过每个门时进行激进的姿态和进度控制，而传统的四旋翼MPCC公式将预测模型建立在惯性坐标系中，姿态误差则在机体坐标系中表示。我们提出了一种用于四旋翼竞速的双四元数模型预测轮廓控制（DQ-MPCC），其中位姿为单位双四元数，轮廓误差被投影到双四元数流形的切空间上，并在期望的机体坐标系中表示：与常规模型相同的刚体动力学，但在机体坐标系中采用统一的位姿-扭转坐标。我们通过蒙特卡洛软件在环仿真和在一个11x4.5x3.65米的八门赛道上的实际竞速，将DQ-MPCC与基线MPCC进行了比较。在仿真和硬件中使用相同的增益，DQ-MPCC使其完成飞行的每次穿越都保持在规定的几何裕度内，而基线则超出了该裕度，其中位最差门偏移从仿真到实际增长了71.5%，而DQ-MPCC则下降了10.1%。在保持每次模拟门穿越都在几何裕度内的配置中，DQ-MPCC还将最小圈速降低了6.7%，在实际飞行中降低了10.5%，同时在机载100 Hz频率下运行。
英文摘要
Quadrotor racing demands aggressive attitude and progress control while passing through every gate, and conventional quadrotor MPCC formulations state the prediction model in inertial coordinates and the attitude error in the body frame. We present a Dual-Quaternion Model Predictive Contouring Control (DQ-MPCC) for quadrotor racing in which the pose is a unit dual quaternion and the contouring errors are projected onto the tangent space of the dual quaternion manifold, expressed in the desired body frame: the same rigid-body dynamics as the conventional model, in unified pose-twist coordinates in the body frame. We compare DQ-MPCC against a baseline MPCC through Monte Carlo software-in-the-loop simulations and real-world racing on an eight-gate circuit of 11x4.5x3.65 m. With the same gains in simulation and hardware, DQ-MPCC keeps every crossing of its completed flights within the prescribed geometric margin, whereas the baseline exceeds it, its median worst-gate offset growing by 71.5% sim-to-real against a 10.1% decrease for DQ-MPCC. Among the configurations that keep every simulated gate crossing within the geometric margin, DQ-MPCC also reduces the minimum lap time by 6.7%, and by 10.5% in the real-world flights, while running onboard at 100 Hz.
发表机构
- Federal University of Paraíba (UFPB)（帕拉伊巴联邦大学）
- Worcester Polytechnic Institute (WPI)（伍斯特理工学院）
机构由 AI 辅助整理，请以论文原文为准。
