This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the tracking error. During this phase, the disturbance estimations with respect to the position are also recorded for future use. For the return flight, the disturbances previously collected are then routed through a feedforward controller. The major assumption here is that the disturbances may vary over space, but not over time during the same mission. We demonstrate the effectiveness of this feedforward strategy via experiments with two different types of wind flows; a simple jet flow and a more complex flow. To use as a baseline case, a cascaded PD controller with an additional feedback loop for disturbance estimation was employed for outbound flights. To display our contributions regarding the additional feedforward approach, an additional feedforward correction term obtained via prerecorded data was integrated for the return flight. Compared to the baseline controller, the feedforward controller was observed to produce 43% less RMSE position error at a vehicle ground velocity of 1 m/s with 6 m/s of environmental wind velocity. This feedforward approach also produced 14% less RMSE position error for the complex flows as well.
翻译:本文展示了受未知流量扰动影响的多色器的圆轨策略。 在外向飞行中, 飞行器立即在反馈控制中利用风扰动估计值来减少跟踪错误。 在这一阶段, 位置的扰动估计值也记录下来供今后使用。 对于返回飞行, 先前收集的扰动随后通过一个向前进控制器进行。 这里的主要假设是, 扰动可能因空间而异, 但在同一飞行任务中不会随时间而变化。 我们通过两种不同类型的风流实验, 简单的喷气流和更复杂的流流, 来显示这种向前进战略的有效性。 为了作为基线案例, 在外向飞行中, 使用带有额外扰动估计反馈环的连锁 PD 控制器。 为了展示我们对额外向前进方法的贡献, 通过预先记录的数据获得的额外向前向修正术语被整合到返回飞行中。 与基线控制器相比, 我们观察到, 向前向前向控制器在1米/ / s 的车辆地面速度为1 m / sm/ scar 位置差, 14 向后向方向, 将产生环境风流为14 方向方向方向的车辆速度。