異常条件下のマルチコプタにおける制御性能指標
A Control Performance Index for Multicopters Under Off-nominal Conditions
マルチコプタの制御不能事故を防ぐため、制御制約と異常条件下での新たな可制御度を提案し、それに基づく制御性能指標を定義して切替制御に応用した研究。
著者: Guang-Xun Du, Quan Quan, Zhiyu Xi, Yang Liu, Kai-Yuan Cai
分類: cs.RO
原文アブストラクト
In order to prevent loss of control (LOC) accidents,the real-time control performance monitoring problem is studied for multicopters. Different from the existing work, this paper does not try to monitor the performance of the controllers directly. In turn, the disturbances of multicopters under off-nominal conditions are estimated to affect a proposed index to tell the user whether the multicopter will be LOC or not. Firstly, a new degree of controllability (DoC) will be proposed for multicopters subject to control constrains and off-nominal conditions. Then a control performance index (CPI) is defined based on the new DoC to reflect the control performance for multicopters. Besides, the proposed CPI is applied to a new switching control framework to guide the control decision of multicopter under off-nominal conditions. Finally, simulation and experimental results show the effectiveness of the CPI and the proposed switching control framework.
