用于全动无人飞行器风扰抑制的频率相关控制

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-04-15 DOI:10.1017/s0263574724000523
Jérémie X. J. Bannwarth, Shahab Kazemi, Karl Stol
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引用次数: 0

摘要

本文通过实验实现了一种$\textrm{H}_{\infty }}$动态输出反馈控制器,用于全动倾斜旋翼八旋翼无人飞行器(UAV)的位置调节,以改善定点保持过程中的风干扰抑制。为了施加横向力,除了标准的倾斜-平移(姿态-推力)运动外,倾转旋翼无人飞行器还能产生矢量(水平)推力。矢量推力具有高带宽,但饱和受限,而姿态推力则能以较低的带宽产生较大的力。本文首次强调了基于完全致动无人机的物理能力(矢量推力和姿态推力),在 $\textrm{H}_{{\infty }}$ 控制设计中根据频率分配权重矩阵。为设计控制器,提出了倾斜旋翼八旋翼飞行器的动态模型,包括气动效应和旋翼动力学。所提出的 $textrm{H}_{{\infty }}$ 控制器通过用加权传递函数增强动态模型来解决频率相关的致动器分配问题。这种新颖的频率相关分配利用姿态-推力来应对低频干扰,利用矢量-推力来应对高频干扰,从而最大限度地挖掘了完全致动无人机的潜力。为了验证模型和风扰动抑制性能,我们进行了多次风洞实验,并将实验结果与倾斜旋翼和平面八旋翼飞行器上的基准 PX4 自动驾驶控制器进行了比较。在自由飞行测试中,$text/textrm{H}_{{\infty }}$ 控制器可在致动器使用率高出 25% 的情况下减少高达 50% 的定点误差。
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Frequency-dependent control for wind disturbance rejection of a fully actuated UAV
In this paper, an $\textrm{H}_{{\infty }}$ dynamic output feedback controller is experimentally implemented for the position regulation of a fully actuated tilted-rotor octocopter unmanned aerial vehicle (UAV) to improve wind disturbance rejection during station-keeping. To apply the lateral forces, besides the standard tilt-to-translate (attitude-thrust) movement, tilted-rotor UAVs can generate vectored (horizontal) thrust. Vectored-thrust is high-bandwidth but saturation-constrained, while attitude-thrust generates larger forces with lower bandwidth. For the first time, this paper emphasizes the frequency-dependent allocation of weighting matrices in $\textrm{H}_{{\infty }}$ control design based on the physical capabilities of the fully actuated UAV (vectored-thrust and attitude-thrust). A dynamic model of the tilted-rotor octocopter, including aerodynamic effects and rotor dynamics, is presented to design the controller. The proposed $\textrm{H}_{{\infty }}$ controller solves the frequency-dependent actuator allocation problem by augmenting the dynamic model with weighting transfer functions. This novel frequency-dependent allocation utilizes the attitude-thrust for low-frequency disturbances and vectored-thrust for high-frequency disturbances, which exploits the maximum potential of the fully actuated UAV. Several wind tunnel experiments are conducted to validate the model and wind disturbance rejection performance, and the results are compared to the baseline PX4 Autopilot controller on both the tilted-rotor and a planar octocopter. The $\textrm{H}_{{\infty }}$ controller is shown to reduce station-keeping error by up to 50% for an actuator usage 25% higher in free-flight tests.
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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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