攻撃的軌道追従のための四重項翼の大域的吸引対数幾何制御
Globally-Attractive Logarithmic Geometric Control of a Quadrotor for Aggressive Trajectory Tracking
SO(3)の対数写像を用いて回転誤差を表現し、ハイブリッド切替なしで大域的に吸引な四重項翼の幾何制御則を提案し、シミュレーションと実機で攻撃的軌道追従性能を示した。
著者: Jacob Johnson, Randal Beard
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
We present a new quadrotor geometric control scheme that is capable of tracking highly aggressive trajectories. Our geometric controller uses the logarithmic map of SO(3) to express rotational error in the Lie algebra, and we show that it is globally attractive without requiring a complicated hybrid switching scheme. We show the performance of our controller against highly aggressive trajectories in simulation experiments. Additionally, we present an adaptation of this controller that allows us to interface effectively with the angular rate controllers on an onboard flight control unit and show the ability of this adapted control scheme to track aggressive trajectories on a quadrotor hardware platform.
