低コストVTOLドローンの動的システム同定とモデル予測制御
Dynamic System Identification, and Control for a cost effective open-source VTOL MAV
DJI Matrice 100の機体ダイナミクスと自動操縦をIMUのみで同定し、モデル予測制御器を設計してホバリングや軌道追従の精度を実機で検証した。
著者: Inkyu Sa, Mina Kamel, Raghav Khanna, Marija Popovic, Juan Nieto, Roland Siegwart
分類: cs.RO
原文アブストラクト
This paper describes dynamic system identification, and full control of a cost-effective vertical take-off and landing (VTOL) multi-rotor micro-aerial vehicle (MAV) --- DJI Matrice 100. The dynamics of the vehicle and autopilot controllers are identified using only a built-in IMU and utilized to design a subsequent model predictive controller (MPC). Experimental results for the control performance are evaluated using a motion capture system while performing hover, step responses, and trajectory following tasks in the present of external wind disturbances. We achieve root-mean-square (RMS) errors between the reference and actual trajectory of x=0.021m, y=0.016m, z=0.029m, roll=0.392deg, pitch=0.618deg, and yaw=1.087deg while performing hover. This paper also conveys the insights we have gained about the platform and returned to the community through open-source code, and documentation.
