全方向マルチロータの機敏な機動のための幾何学的追従制御
Geometric Tracking Control of Omnidirectional Multirotors for Aggressive Maneuvers
ロータダイナミクスを考慮した新しい追従制御器を提案し、全方向マルチロータの機敏な飛行における追従性能を向上させた。
著者: Hyungyu Lee, Sheng Cheng, Zhuohuan Wu, Jaeyoung Lim, Roland Siegwart, Naira Hovakimyan
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional multirotor to frequently alter the thrust amplitude and direction. In doing so, the rotors' settling time, which is induced by inherent rotor dynamics, significantly affects the omnidirectional multirotor's tracking performance, especially in aggressive flights. To resolve this issue, we propose a novel tracking controller that takes the rotor dynamics into account and does not require additional rotor state measurement. This is achieved by integrating a linear rotor dynamics model into the vehicle's equations of motion and designing a PD controller to compensate for the effects introduced by rotor dynamics. We prove that the proposed controller yields almost global exponential stability. The proposed controller is validated in experiments, where we demonstrate significantly improved tracking performance in multiple aggressive maneuvers compared with a baseline geometric PD controller.
