未知の動特性を持つクアッドコプターの適応デジタルPID制御
Adaptive Digital PID Control of a Quadcopter with Unknown Dynamics
PX4のフィードバック・フィードフォワード制御をRCACに基づく適応制御則に置き換え、未知動特性のクアッドコプターで軌道追従性能と慣性モーメント変化へのロバスト性を数値検証した。
著者: Ankit Goel, Abdulazeez Mohammed Salim, Ahmad Ansari, Sai Ravela, Dennis Bernstein
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This paper develops an adaptive autopilot for quadcopters with unknown dynamics. To do this, the PX4 autopilot architecture is modified so that the feedback and feedforward controllers are replaced by adaptive control laws based on retrospective cost adaptive control (RCAC). The present paper provides a numerical investigation of the performance of the adaptive autopilot on a quadcopter with unknown dynamics. In order to reflect the absence of prior modeling information, all of the adaptive digital controllers are initialized at zero gains. In addition, moment-of-inertia of the quadcopter is varied to test the robustness of the adaptive autopilot. In all test cases, the vehicle is commanded to follow a given trajectory, and the resulting performance is examined.
