研究目的
Investigating the design and implementation of an L1-optimal control for a quadrotor UAV to achieve asymptotic tracking of the position of the center of mass and the heading, and to reject persistent disturbances.
研究成果
The proposed L1-optimal robust controller for quadrotor UAVs effectively rejects persistent disturbances, achieving nearly zero mean steady-state errors in both simulations and experiments. The controller outperforms a related robust nonlinear controller in the literature, particularly in rejecting modeling errors such as blade misalignment and shifted center of mass location.
研究不足
The control design assumes perfect knowledge of plant parameters and no measurement noise for exponential convergence of errors to zero. In the presence of parametric uncertainty and measurement noise, the controller's performance is optimized in an L1-optimal sense, but may still be affected by these factors.
1：Experimental Design and Method Selection:
The methodology involves the design of an L1-optimal controller for a quadrotor UAV, utilizing partial feedback linearization and the method of stable factorizations.
2：Sample Selection and Data Sources:
The experiments are conducted using a Quanser Qball quadrotor model, with simulations and actual experiments to validate the controller's performance.
3：List of Experimental Equipment and Materials:
Quanser Qball quadrotor, Vicon motion capture system, Gumstix Verdex embedded processor.
4：Experimental Procedures and Operational Workflow:
The quadrotor is commanded to perform set-point regulation and trajectory tracking tasks, with the controller's performance evaluated under conditions of parameter uncertainty and measurement noise.
5：Data Analysis Methods:
The performance is quantified by the mean and standard deviation of the position and orientation errors, comparing the proposed controller with a robust nonlinear controller from the literature.
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