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Comparison of Parameter-Varying Decoupling Based Control Schemes for a Quadrotor

机译：基于参数变化的四耦的比较

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This paper presents and compares approaches to the design of flight controllers for quadrotor helicopters based on Linear Parameter-Varying (LPV) decoupling techniques. It is shown that parameter-varying decoupling makes it possible to use SISO LTI control design to address all degrees of motion freedom subject to high-speed maneuvers that require large pitch and roll angles. Specifically a decoupling method based on local linearizations (gain-scheduling decoupling) is compared to a global scheduling-dependent decoupling method inspired by computed-torque control, where the scheduling is based on the tilt angels of the drone. Based on an extensive simulation study, it is demonstrated that such a relatively simple control architecture can achieve significantly better performance than LTI control. Conceptually, the presented techniques can be used for the design of control schemes for aircraft and missiles.
机译：本文介绍了基于线性参数变化（LPV）去耦技术的四轮电机直升机设计方法。结果表明，参数变化的去耦使得可以使用Siso LTI控制设计来解决所需的高速动作的所有运动自由度，这些运动是需要大的俯仰和辊角的高速动作。具体地，基于本地线性化（增益调度解耦）的解耦方法与由计算 - 扭矩控制的启发的全局调度相关的去耦方法进行比较，其中调度基于无人机的倾斜天使。基于广泛的仿真研究，证明这种相对简单的控制架构可以比LTI控制实现显着更好的性能。概念上，所提出的技术可用于设计飞机和导弹的控制方案。

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