Position Tracking of a Multicopter using a Geometric Backstepping Control Law
Position Tracking of a Multicopter using a Geometric Backstepping Control Law
复制标题
使用几何反步控制律的多旋翼飞行器位置跟踪
DOI：
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发表时间：
2013
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：
Guillermo P. Falconi;F. Holzapfel
本文提出了一种多旋翼直升机位置跟踪控制器。控制器的设计利用了这样一个事实，即对于位置跟踪，不需要整个姿态的控制，而只需要身体固定z轴的控制。这导致独立于航向控制器的位置控制器。这是通过引入推力矢量作为系统的状态，即用物体固定的z轴作为简化的姿态参数，并动态地扩展通过st输入T来实现的。该参数选择还避免了局部姿态参数化的缺点，如奇异或解旋，从而最大化飞行包线。位置控制器的设计使用三步回步控制律，这样就不需要时间尺度分离。在此基础上，提出了两种航向控制器。
In this paper a position tracking controller for a multiroto r helicopter is presented. The controller design exploits the fact that for position tracking, the control of the whole attitude is not needed, but only the control of the body-fixedz-axis. This results in a position controller which is independent o f the heading controller. This is achieved by introducing the thrust vector as a system ’ state, i.e. using the body-fixedz-axis as a reduced attitude parameter and extending the thru st inputT dynamically. This parameter choice also avoids drawbacks o f local attitude parameterizations like singularities or unwinding and thus maxi mizes the flight envelope. The position controller is designed using a three-step back stepping control law, such that no time-scale separation is needed. Furthermore, two h eading controllers are proposed.