Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the same rotation can be translated into different roll, pitch, and yaw angles because there are multiple Euler angle standards for characterization of rotation in a 3-dimensional motion space. Additionally, it is computationally expensive to convert a quadcopters orientation to the associated roll, pitch, and yaw angles, which may make it difficult to track quick and aggressive trajectories. To address these issues, this paper will develop a flatness-based trajectory tracking control without using Euler angles. We assess and test the proposed controls performance in the Gazebo simulation environment and contrast its functionality with the existing Mellinger controller, which has been widely adopted by the robotics and unmanned aerial system (UAS) communities.
翻译:过去曾广泛调查并实施了四氯二苯轨道跟踪控制。 可用的控制设备大多使用 Euler 角度标准来描述四氯二苯轮回运动和动态。 结果, 同样的旋转可以转换成不同的滚动、 投球和 斜线角度, 因为三维运动空间的旋转特征有多重 Euler 角度标准。 此外, 将四氯二苯方向转换为相关的滚动、 投射和 斜线角度, 在计算上成本很高, 这可能使得跟踪快速和攻击性轨迹变得困难。 为了解决这些问题, 本文将开发一个不使用 Euler 角度的基于平坦性的轨迹跟踪控制设备。 我们评估和测试Gazebo 模拟环境中的拟议控制性能, 并将其功能与现有的Mellinger 控制器进行对比, 机器人和无人驾驶航空系统( UAS) 社区已经广泛采用该控制器。