论文标题
具有多旋转无人机的未知轨迹的强大跟踪：高增强观察者方法
Robust tracking of an unknown trajectory with a multi-rotor UAV: A high-gain observer approach
论文作者
论文摘要
我们研究了在存在建模误差和外部干扰的情况下多旋转器的轨迹跟踪问题。所需的轨迹是未知的，并且是由具有未知或部分已知动力学的参考系统生成的。我们假设只能访问多转机和参考系统的位置测量值的位置和方向测量。我们采用扩展的高增益观察者（EHGO）估计框架来估计轨迹跟踪所需的进纸前术语，多连杆状态以及对误差和外部干扰进行建模。我们设计了一个输出反馈控制器，用于轨迹跟踪，其中包括反馈线性化控制器和EHGO。我们严格分析提出的控制器并建立其稳定性。最后，我们使用多连杆着陆在地面车辆上的示例来数字说明我们的理论结果。
We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We assume that only position and orientation measurements for the multi-rotor and position measurements for the reference system can be accessed. We adopt an extended high-gain observer (EHGO) estimation framework to estimate the feed-forward term required for trajectory tracking, the multi-rotor states, as well as modeling error and external disturbances. We design an output feedback controller for trajectory tracking that comprises a feedback linearizing controller and the EHGO. We rigorously analyze the proposed controller and establish its stability properties. Finally, we numerically illustrate our theoretical results using the example of a multi-rotor landing on a ground vehicle.
