風外乱下のクアッドロータ向け安全な学習ベース追従制御
Safe Learning-based Tracking Control for Quadrotors under Wind Disturbances
ガウス過程で風外乱の不確かさを推定し、制御バリア関数を組み込んだ階層型QP制御により、障害物のある環境でも安全な軌道追従を実現する手法を提案した。
著者: Lei Zheng, Rui Yang, Jiesen Pan, Hui Cheng
分類: cs.RO
原文アブストラクト
Enforcing safety on precise trajectory tracking is critical for aerial robotics subject to wind disturbances. In this paper, we present a learning-based safety-preserving cascaded quadratic programming control (SPQC) for safe trajectory tracking under wind disturbances. The SPQC controller consists of a position-level controller and an attitude-level controller. Gaussian Processes (GPs) are utilized to estimate the uncertainties caused by wind disturbances, and then a nominal Lyapunov-based cascaded quadratic program (QP) controller is designed to track the reference trajectory. To avoid unexpected obstacles when tracking, safety constraints represented by control barrier functions (CBFs) are enforced on each nominal QP controller in a way of minimal modification. The performance of the proposed SPQC controller is illustrated through numerical validations of (a) trajectory tracking under different wind disturbances, and (b) trajectory tracking in a cluttered environment with a dense time-varying obstacle field under wind disturbances.
