论文标题
在多个状态限制下，固定的轨迹跟踪和有效载荷交付
Robust Trajectory Tracking and Payload Delivery of a Quadrotor Under Multiple State Constraints
论文作者
论文摘要
With quadrotors becoming immensely popular in applications such as relief operations, infrastructure maintenance etc., a key control design challenge arises when the quadrotor has to manoeuvre through constrained spaces during various operational scenarios: for example, inspecting a pipeline within predefined velocity and space, dropping relief material at a precise location under tight spaces etc., under the face of parametric uncertainties and external disturbances.为了解决此类情况，控制器需要确保预定义的跟踪精度，以免违反约束，同时解决不确定性和干扰。但是，处理受限系统运动的最新控制器要么不适用于诸如四极管之类的不足系统，要么无法在全州限制下解决系统的不确定性。这项工作试图通过设计基于障碍Lyapunov功能（BLF）的强大控制器来满足多个状态约束，同时协商参数不确定性和外部干扰，以填补文献中的这种空白。展示了BLF控制方法优于典型的无约束控制器的优越性，然后进行了可靠的控制设计，以满足四型动力学上的位置和方向约束。最后，对四个方向的完整状态约束（即，位置上的约束，方向，线性速度和角速度）对可靠的控制满足。对于每个控制设计，分析闭环系统的稳定性进行了研究，并通过现实的仿真场景或通过对实际四极管进行的实验对设计的功效进行了广泛的验证。
With quadrotors becoming immensely popular in applications such as relief operations, infrastructure maintenance etc., a key control design challenge arises when the quadrotor has to manoeuvre through constrained spaces during various operational scenarios: for example, inspecting a pipeline within predefined velocity and space, dropping relief material at a precise location under tight spaces etc., under the face of parametric uncertainties and external disturbances. To tackle such scenarios, a controller needs to ensure a predefined tracking accuracy so as not to violate the constraints while simultaneously tackling uncertainties and disturbances. However, state-of-the-art controllers dealing with constrained system motion are either not applicable for an underactuated system like quadrotor, or cannot tackle system uncertainties under full state constraints. This work attempts to fill such a gap in literature by designing Barrier Lyapunov Function (BLF) based robust controllers to satisfy multiple state-constraints while simultaneously negotiating parametric uncertainties and external disturbances. The superiority of the BLF control method over a typical unconstrained controller is demonstrated, followed by a robust control design to satisfy position and orientation constraints on quadrotor dynamics. Finally, full state-constraints on a quadrotor(i.e., constraints on the position, orientation, linear velocity and angular velocity) are satisfied with robust control. For each control design, the closed-loop system stability is studied analytically and the efficacy of the design is validated extensively either via realistic simulation scenarios or via experiments performed on a real quadrotor.
