アグレッシブなクアッドロータ追従制御のためのニュートン・ラフソン流
Newton-Raphson Flow for Aggressive Quadrotor Tracking Control
ニュートン・ラフソン流追従制御器をクアッドロータのアグレッシブ飛行に適用し、PX4の標準追従制御器を上回る性能を実機で実証した。
著者: Evanns Morales-Cuadrado, Christian Llanes, Yorai Wardi, Samuel Coogan
分類: cs.RO, cs.SY, eess.SY, math.OC
原文アブストラクト
We apply the Newton-Raphson flow tracking controller to aggressive quadrotor flight and demonstrate that it achieves good tracking performance over a suite of benchmark trajectories, beating the native trajectory tracking controller in the popular PX4 Autopilot. The Newton-Raphson flow tracking controller is a recently proposed integrator-type controller that aims to drive to zero the error between a future predicted system output and the reference trajectory. This controller is computationally lightweight, requiring only an imprecise predictor, and achieves guaranteed asymptotic error bounds under certain conditions. We show that these theoretical advantages are realizable on a quadrotor hardware platform. Our experiments are conducted on a Holybrox x500v2 quadrotor using a Pixhawk 6x flight controller and a Rasbperry Pi 4 companion computer which receives location information from an OptiTrack motion capture system and sends input commands through the ROS2 API for the PX4 software stack.
