回転翼小型航空機の軌道追従における線形MPCと非線形MPCの比較
Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles
回転翼ドローンの軌道追従について、線形MPCと非線形MPCを実装し、ホバリング性能・ステップ応答・急峻な軌道追従・風外乱下での性能を速度と追従精度の観点で比較した論文。
著者: Mina Kamel, Michael Burri, Roland Siegwart
分類: cs.RO
原文アブストラクト
Precise trajectory tracking is a crucial property for \acp{MAV} to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for \ac{MAV} trajectory tracking. A classical \ac{LMPC} is presented and compared against a more advanced \ac{NMPC} that considers the full system model. In a careful analysis we show the advantages and disadvantages of the two implementations in terms of speed and tracking performance. This is achieved by evaluating hovering performance, step response, and aggressive trajectory tracking under nominal conditions and under external wind disturbances.
