Attitude control of a multicopter using L1 augmented quaternion based backstepping
Attitude control of a multicopter using L1 augmented quaternion based backstepping
复制标题
使用基于 L1 增强四元数的反步法对多旋翼飞行器进行姿态控制
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
F. Holzapfel
中科院分区：
文献类型：
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作者：
Venkata S. Akkinapalli;Guillermo P. Falconi;F. Holzapfel
针对存在不确定性的多旋翼飞行器姿态鲁棒跟踪问题，提出了一种基于四元数的反推控制器和L1分段常数自适应增强方法。利用多旋翼动力学的严格反馈形式，针对标称条件设计了基于四元数的反推控制器。该控制律通过使用定义良好的四元数误差来防止退绕。反推控制器的增强使用L1自适应控制，以提高在存在不确定性的性能。为了比较基线控制器和增广控制器的性能，在仿真中比较了不同的不确定性情况（重心位置和转动惯量）。一个截断的L2范数的跟踪误差用于定量比较。飞行试验验证了仿真结果。
This paper presents a quaternion based backstepping controller and a L1 piecewise-constant adaptive augmentation to address the robust attitude tracking problem of a multicopter in the presence of uncertainties. The strict-feedback form of the multicopter dynamics is utilized to formulate the quaternion based backstepping controller which is designed for nominal conditions. This control law prevents unwinding by using a well-defined quaternion error. The backstepping controller is augmented using a L1 adaptive control to increase the performance in the presence of uncertainties. In order to compare the performance of the baseline and the augmented controllers, different uncertainty cases (within position of the center of gravity and moment of inertia) were compared in simulation. A truncated L2-norm of the tracking error is used for a quantitative comparison. Flight tests which validate the simulation results are presented.