Real-Time OF-based Trajectory Control of a UAS Rotorcraft Based on Integral Extended-State LQG

Abstract

The actual paper proposes a robust optimal control strategy via an Extended-State Integral Linear Quadratic Gaussian (ES-iLQG) controller meant to drive the quadrotor motion to track a time-parametrized trajectory in presence of exogenous and endogenous disturbances. The herein enhanced LQG controller, includes an Extended-State Linear Kalman Filter (ES-LKF) utilised as a disturbance estimator, and an integral Linear Quadratic Regulator (iLQR). Results from a simulation stage exhibit the effectiveness of the proposed control scheme for trajectory tracking purposes. In this regard, promising experimental results were obtained from two scenarios: Trajectory tracking of an elliptical helix-shaped and an 8-shaped trajectories. It is noteworthy that the control law is computed onboard and relies on optical flow for translational motion control.