Attacker-Resilient Adaptive Path Following of a Quadrotor with Dynamic Path-Dependent Constraints
Attacker-Resilient Adaptive Path Following of a Quadrotor with Dynamic Path-Dependent Constraints
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DOI：
10.23919/acc55779.2023.10156266
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发表时间：
2023-05
期刊：
影响因子：
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通讯作者：
Xu Jin;Zhongjun Hu
中科院分区：
文献类型：
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作者：
Xu Jin;Zhongjun Hu
对于文献中的大多数约束运动控制工作，仅讨论恒定或时变的约束，这些约束往往是保守的，不能适应动态变化的运行环境。在这项工作中，在四旋翼飞行器操作的背景下，我们提出了一种具有动态路径相关约束的新的自适应路径跟随架构，其中期望路径坐标、期望路径速度和约束要求不仅取决于与期望路径相关的路径参数，而且还可以适应附近“攻击者”的存在。提出了“复合屏障功能”的新概念，以解决统一结构中的安全性和性能约束。引入自适应定律来估计系统不确定性和未知“攻击者”速度的上限。可以保证指数收敛到位置跟踪误差平衡附近的小邻域。最后，通过仿真示例进一步证明了所提出架构的有效性。
For most works on constrained motion control in the literature, only constant or time-varying constraints are discussed, which are often conservative and cannot adapt to the dynamically changing operation environment. In this work, in the context of quadrotor operations, we propose a new adaptive path following architecture with dynamic path-dependent constraints, in which the desired path coordinate, desired path speed, and constraint requirements not only depend on a path parameter associated with the desired path, but also can adapt to the presence of an "attacker" nearby. A new concept of "composite barrier function" has been proposed to address both safety and performance constraints in a unified structure. Adaptive laws are introduced to estimate the upper bounds of system uncertainties and unknown "attacker" velocity. Exponential convergence into a small neighborhood around the equilibrium for position tracking error can be guaranteed. In the end, a simulation example further demonstrates the effectiveness of the proposed architecture.