横方向推力に制約を持つ飛行ロボットの全姿勢トラッキング制御
Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force
主推力方向以外の力が小さい飛行ロボットを対象に、位置と姿勢を独立に追従させるSE(3)上の幾何学的制御則を提案し、実験で有効性を示した論文。
著者: Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll
分類: math.OC, cs.RO, cs.SY, eess.SY, math.DS
原文アブストラクト
In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while in the lateral directions a (smaller and possibly null) force may be exploited to achieve full-pose tracking. This class approximates well platforms endowed with non-coplanar/non-collinear rotors that can use the tilted propellers to slightly change the orientation of the total thrust w.r.t. the body frame. For this broad class of systems, we introduce a new geometric control strategy in SE(3) to achieve, whenever made possible by the force constraints, the independent tracking of position-plus-orientation trajectories. The exponential tracking of a feasible full-pose reference trajectory is proven using a Lyapunov technique in SE(3). The method can deal seamlessly with both under- and fully-actuated LBF platforms. The controller guarantees the tracking of at least the positional part in the case that an unfeasible full-pose reference trajectory is provided. The paper provides several experimental tests clearly showing the practicability of the approach and the sharp improvement with respect to state of-the-art approaches.
