Fast nonlinear model predictive control for multicopter attitude tracking on SO(3)
Fast nonlinear model predictive control for multicopter attitude tracking on SO(3)
复制标题
SO(3)上多旋翼姿态跟踪的快速非线性模型预测控制
DOI：
10.1109/cca.2015.7320769
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
R. Siegwart
中科院分区：
文献类型：
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作者：
Mina Kamel;K. Alexis;Markus Achtelik;R. Siegwart
利用多旋翼微型飞行器（MAV）的高动态飞行包线是一项特别具有挑战性的任务，需要对其姿态控制回路进行特殊处理。本文提出了一种基于误差几何公式的非线性模型预测控制方法，在SO（3）特殊正交群上实现对微型飞行器姿态的快速跟踪。所提出的控制器相结合的最优位置跟踪控制策略的级联方式。整体框架上实现了一个六旋翼机，并验证了高保真度的模拟以及广泛的实验研究。如图所示，所得到的闭环系统利用平台的动力学，能够跟踪攻击性轨迹，从任意姿态配置中恢复，并且还处理螺旋桨故障。
Exploiting the highly dynamic flight envelope of a multirotor Micro Aerial Vehicle (MAV) is a particularly challenging task that requires special treatment of its attitude control loop. In this paper, we propose a fast nonlinear model predictive control approach based on a geometric formulation of the error to track the MAV attitude on the SO(3) special orthogonal group. The proposed controller is combined with an optimal position tracking control strategy in a cascaded fashion. The overall framework is implemented on-board a hexacopter and verified in both high fidelity simulations as well as extensive experimental studies. As shown, the resulting closed-loop system exploits the dynamics of the platform, is able to track aggressive trajectories, recover from arbitrary attitude configurations and also handle a propeller failure.