結合外乱に対する学習ベースオブザーバ
Learning-based Observer for Coupled Disturbance
チェビシェフ級数展開と正則化最小二乗法を組み合わせ、内部不確かさと外部外乱の結合外乱を高精度に推定する学習ベースのオブザーバを提案し、飛行実験で検証した。
著者: Jindou Jia, Meng Wang, Zihan Yang, Bin Yang, Yuhang Liu, Kexin Guo, Xiang Yu
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Achieving high-precision control for robotic systems is hindered by the low-fidelity dynamical model and external disturbances. Especially, the intricate coupling between internal uncertainties and external disturbances further exacerbates this challenge. This study introduces an effective and convergent algorithm enabling accurate estimation of the coupled disturbance via combining control and learning philosophies. Concretely, by resorting to Chebyshev series expansion, the coupled disturbance is firstly decomposed into an unknown parameter matrix and two known structures dependent on system state and external disturbance respectively. A regularized least squares algorithm is subsequently formalized to learn the parameter matrix using historical time-series data. Finally, a polynomial disturbance observer is specifically devised to achieve a high-precision estimation of the coupled disturbance by utilizing the learned portion. The proposed algorithm is evaluated through extensive simulations and real flight tests. We believe this work can offer a new pathway to integrate learning approaches into control frameworks for addressing longstanding challenges in robotic applications.
