Model predictive control and vision-based control strategies for Quadrotor systems

Quanser Consulting Inc.在设计和实施可靠高效的产品方面拥有多年的经验 无人驾驶车辆系统。Quanser公司的S产品-Qball 2四旋翼-是一种创新的室内旋转翼 适用于各种无人驾驶车辆研究应用的平台，包括车辆建模和 控制、运动规划、避障、传感器融合、车队维护、容错控制、 多智能体导航等。上述频繁报道的关于四旋翼的研究的一个先决条件是 设计并实现了可靠、高效的控制系统。一些控制策略已经应用于 四旋翼飞行；例如，PID控制策略、基于反步的非线性控制和基于神经网络的控制 控制策略。Quanser QBall 2上的LQR控制策略旨在以最小能量运行系统 消费。 根据公司发现的两个问题，本项目将针对以下两项任务 在六个月的时间内：(1)为QBall 2开发模型预测控制器，以及(2) 为Quanser QBall 2开发基于视觉的控制器。通过开发新的分析和合成工具， 我们预计将大大改善四旋翼控制系统的控制性能，这将 拓宽了它的范围，提高了它在工业和教学应用中的表现。新与强 合作关系将通过这个项目建立。拟议中的项目将填补这一空白 它将为控制工程师提供新的工具来分析和综合 四旋翼飞行控制系统；最后，它将使加拿大的相应行业受益。在.之下 在申请者和Quanser设计工程师的监督下，两名研究生将接受研究 通过本项目的培训，获得实际操作的控制系统设计经验。

Quanser Consulting Inc. has many-year experience of designing and implementing reliable and efficient Unmanned Vehicle Systems. Quanser 's product - QBall 2 quadrotor - is an innovative indoor rotary wing platform suitable for a wide variety of unmanned vehicle research applications, including vehicle modeling and control, motion planning, obstacle avoidance, sensor fusion, fleet maintenance, fault-tolerant control, multi-agent navigation, and so on. A prerequisite for above frequently reported research on the quadrotors is to design and implement a reliable and efficient control system. Some control strategies are already applied on the quadrotor flight; e.g, PID control strategy, backstepping-based nonlinear control and neural networks based control strategies. LQR control strategy on Quanser QBall 2 aims at operating a system with minimum energy consumption. According to the two identified problems from the company, this project will target at the following two tasks during the six-month time-frame: (1) To develop Model Predictive Controller for the Quanser QBall 2, and (2) to develop vision-based controllers for the Quanser QBall 2. By developing novel analysis and synthesis tools, we expect to achieve greatly improved control performance for the quadrotor control systems, which would broaden its range and enhance its performance in industry and teaching applications. New and strong collaborative relationship will be established through this project. The proposed project would fill in the gap between theory and practice; it would provide control engineers with new tools for analysis and synthesis of quadrotor flight control systems; finally, it would benefit the corresponding industry in Canada. Under the supervision of the applicant and the Quanser Design Engineer, two graduate students will receive research training and gain hands-on practical control system design experience from this project.