Rotational Error Metrics for Quadrotor Control
Rotational Error Metrics for Quadrotor Control
复制标题
四旋翼飞行器控制的旋转误差指标
DOI：
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发表时间：
2020
期刊：
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通讯作者：
Nathan Michael
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文献类型：
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作者：
Alexander Spitzer;Nathan Michael
我们分析和实验比较各种旋转误差指标用于四旋翼控制器。传统的四旋翼姿态控制器使用欧拉角或全旋转来计算姿态误差，并将其缩放以计算控制响应。最近，一些研究表明，在姿态控制器中优先考虑四旋翼倾斜或推力矢量误差可以改善位置控制，特别是在偏航误差较大的情况下。我们提供了一个提出的旋转度量的目录，将它们放在同一个框架中，并表明我们可以独立地推理和设计响应的大小和响应的方向。现有的方法主要分为两大类：(1)诱导最短方向响应以纠正全旋转误差的度量；(2)结合最短方向响应以纠正倾斜误差和最短方向响应以纠正偏航误差。我们展示了实验结果，以突出旋转误差度量之间的显着差异。请参阅https://alspitz.github.io/roterrormetrics.html以获得可视化实验的交互式模拟。
We analyze and experimentally compare various rotational error metrics for use in quadrotor controllers. Traditional quadrotor attitude controllers have used Euler angles or the full rotation to compute an attitude error and scale that to compute a control response. Recently, several works have shown that prioritizing quadrotor tilt, or thrust vector error, in the attitude controller leads to improved position control, especially in situations with large yaw error. We provide a catalog of proposed rotational metrics, place them into the same framework, and show that we can independently reason about and design the magnitude of the response and the direction of the response. Existing approaches mainly fall into two categories: (1) metrics that induce a response in the shortest direction to correct the full rotation error and (2) metrics that combine a response in the shortest direction to correct tilt error with the shortest direction to correct yaw error. We show experimental results to highlight the salient differences between the rotational error metrics. See https://alspitz.github.io/roterrormetrics.html for an interactive simulation visualizing the experiments performed.