Robust Trajectory Tracking by a Multicopter Platform: A Game Against Nature

Bhargav Jha, Ujjwal Gupta, Vladimir Turetsky, Tal Shima

نتاج البحث: فصل من :كتاب / تقرير / مؤتمرمنشور من مؤتمرمراجعة النظراء

ملخص

In this paper, the problem of robust trajectory tracking by a multicopter platform is formulated as a linear-quadratic differential game against unknown external disturbances (nature). The desired trajectory is composed of position and yaw constraint, which is known to be a differentially flat output for multicopter state dynamics. Using this property, a linearized error dynamics is obtained in the vicinity of the nominal states and the nominal control inputs. To avoid singularities, the linearized error dynamics is derived using quaternion representation. Based on it, an optimal saddle point strategy for trajectory tracking is presented, where controller gains are calculated apriori by numerically solving a differential Ricatti equation. A salient feature of this control design is that both the position and the attitude control loops are integrated, and there are only two tuning parameters — one corresponding to the tradeoff between control effort and tracking accuracy and the other corresponding to robustness. Simulations as well as experimental validations are presented to demonstrate the performance and applicability of the controller.

اللغة الأصليةالإنجليزيّة
عنوان منشور المضيفAIAA SciTech Forum 2022
المعرِّفات الرقمية للأشياء
حالة النشرنُشِر - 2022
الحدثAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022 - San Diego, الولايات المتّحدة
المدة: ٣ يناير ٢٠٢٢٧ يناير ٢٠٢٢

سلسلة المنشورات

الاسمAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022

!!Conference

!!ConferenceAIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022
الدولة/الإقليمالولايات المتّحدة
المدينةSan Diego
المدة٣/٠١/٢٢٧/٠١/٢٢

All Science Journal Classification (ASJC) codes

  • !!Aerospace Engineering

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