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Robust global observer position-yaw control based on ellipsoid method for quadrotors

机译：基于椭球法对四轮压积法的鲁棒全局观察者位置偏航控制

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摘要

An observed-based control strategy for position-yaw tracking of quadrotors is proposed. From a virtual controller for the position dynamics, attitude and angular velocity references are estimated with the aim of allowing the position-control components to enforce the tracking of a position reference. In addition, no measurement of the linear velocity is assumed, and the measurement of the position signal is noisy, thus, a dynamic observer for the position dynamics is employed. The ellipsoid method is considered to estimate the feedback controller and observer gains, based on an optimization procedure, in order to produce the ultimately boundedness of attitude and position tracking errors inside a compact convex vicinity of the origin, whose Lebesgue measure is minimized via LMIs. The advantages of the proposed scheme are illustrated through numerical simulations that include aerodynamic disturbances and noisy measurements. Finally, an experimental assessment is carried out to illustrate the feasibility and performance of the proposed controller in a real-time application.
机译：提出了基于观测的基于标准转移跟踪的控制策略。从虚拟控制器的位置动态，姿态和角速度引用估计是允许位置控制组件强制执行位置参考的跟踪。另外，假设没有线性速度的测量，并且位置信号的测量是嘈杂的，因此采用了用于位置动力学的动态观察者。基于优化过程，考虑椭球方法估计反馈控制器和观察者增益，以便在原点的紧凑凸起附近产生最终的姿态和位置跟踪误差，其Lebesgue测量通过LMIS最小化。通过包括空气动力学干扰和噪声测量的数值模拟来说明所提出的方案的优点。最后，进行了实验评估，以说明在实时应用中所提出的控制器的可行性和性能。

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