论文标题
计算非线性自适应多电流控制器的前触发设置
Computing Forward Reachable Sets for Nonlinear Adaptive Multirotor Controllers
论文作者
论文摘要
在多电流系统中，确保安全性同时考虑未知干扰对于稳健的轨迹计划至关重要。可以利用前进的可行状态（FRS）（FRS），这是一组受界障碍的可行状态，可以通过检查与障碍物的交叉点来识别强大和无碰撞的轨迹。但是，在许多情况下，FRS不是实时计算的，并且太保守了，无法在实际应用中使用。在本文中，我们通过引入非线性干扰观察者（NDOB）和对多旋动系统的自适应控制器来解决这些问题。我们使用汉密尔顿 - 雅各比（Hamilton-Jacobi）可达性分析在增强状态空间中具有自适应控制器的闭环多旋翼系统的FRS。然后，我们得出封闭形式的表达式，该表达式过多地将FRS视为椭圆形，从而实时计算。通过补偿对自适应控制器的干扰，我们的过度评估的FR可以小于其他椭圆形的过度评估。数值示例验证了我们提出的FRS的计算效率和较小规模。
In multirotor systems, guaranteeing safety while considering unknown disturbances is essential for robust trajectory planning. The Forward reachable set (FRS), the set of feasible states subject to bounded disturbances, can be utilized to identify robust and collision-free trajectories by checking the intersections with obstacles. However, in many cases, the FRS is not calculated in real time and is too conservative to be used in actual applications. In this paper, we address these issues by introducing a nonlinear disturbance observer (NDOB) and an adaptive controller to the multirotor system. We express the FRS of the closed-loop multirotor system with an adaptive controller in augmented state space using Hamilton-Jacobi reachability analysis. Then, we derive a closed-form expression that over-approximates the FRS as an ellipsoid, allowing for real-time computation. By compensating for disturbances with the adaptive controller, our over-approximated FRS can be smaller than other ellipsoidal over-approximations. Numerical examples validate the computational efficiency and the smaller scale of our proposed FRS.
