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Reduction of power consumption on quadrotor vehicles via trajectory design and a controller-gains tuning stage

机译：通过轨迹设计和控制器增益调整级减少四旋翼飞行器的功耗

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This work presents a methodology for reducing power consumption on quadrotor vehicles. The proposed methodology combines both, a trajectory design procedure and a controller-gains tuning stage. The quadrotor is operated in closed-loop by means of a terminal sliding modes controller, whose stability analysis is provided by using a strict Lyapunov function. The trajectory design stage allows designing an optimal trajectory with smooth transitions by minimizing a criterion function using dynamic optimization theory. Furthermore, in order to reduce power consumption, a performance index depending on the tracking error and the quadrotor inputs is used on a control-gains tuning stage based on a nature inspired evolutionary meta-heuristic algorithm, namely the cuckoo search algorithm. The quadrotor terminal sliding modes controller is compared to another sliding mode control algorithm, and the performance of each controller is assessed by considering aero-dynamical disturbances and parametric uncertainties. Numerical simulations show that the tracking error and power consumption are reduced when the trajectory tracking and controller-gains tuning stages are used. Besides, it is shown that the proposed terminal sliding modes controller outperforms a conventional sliding mode control scheme. (C) 2018 Elsevier Masson SAS. All rights reserved.
机译：这项工作提出了一种减少四旋翼飞行器功耗的方法。所提出的方法结合了轨迹设计过程和控制器增益调整阶段。四极转子通过终端滑模控制器闭环运行，其稳定性分析通过使用严格的Lyapunov函数进行。轨迹设计阶段允许通过使用动态优化理论使准则函数最小化来设计具有平滑过渡的最优轨迹。此外，为了减少功耗，在基于自然启发的进化元启发式算法，即布谷鸟搜索算法的控制增益调整级上使用了取决于跟踪误差和四旋翼输入的性能指标。将四旋翼终端滑模控制器与另一种滑模控制算法进行比较，并通过考虑空气动力干扰和参数不确定性来评估每个控制器的性能。数值仿真表明，使用轨迹跟踪和控制器增益调整阶段可降低跟踪误差和功耗。此外，表明所提出的终端滑模控制器优于传统的滑模控制方案。 （C）2018 Elsevier Masson SAS。版权所有。

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