ロータードラッグを考慮したクアッドロータの微分平坦性と高速軌道追従
Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories
ロータードラッグを受けるクアッドロータの力学が位置と方位について微分平坦であることを証明し、参照軌道から直接フィードフォワード制御を計算して高速飛行の追従精度を大幅に向上させた。
著者: Matthias Faessler, Antonio Franchi, Davide Scaramuzza
分類: cs.RO
原文アブストラクト
In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference trajectory to be tracked. The obtained feed-forward terms are then used in a cascaded, nonlinear feedback control law that enables accurate agile flight with quadrotors. Compared to state-of-the-art control methods, which treat the rotor drag as an unknown disturbance, our method reduces the trajectory tracking error significantly. Finally, we present a method based on a gradient-free optimization to identify the rotor drag coefficients, which are required to compute the feed-forward control terms. The new theoretical results are thoroughly validated trough extensive comparative experiments.
