Improvement of tracking control performance of quadrotors under Simultaneous Planning, Estimation, and Execution

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-04-26 DOI:10.1016/j.conengprac.2025.106360

Zhou Liu , Shaoting Liu , Yang Qu , Lilong Cai

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引用次数: 0

Abstract

The dynamics of quadrotors present significant challenges, including underactuation, external disturbances, and parametric uncertainties. To address these challenges and achieve precise given-time tracking, this paper propose a novel control strategy called Simultaneous Planning, Estimation, and Execution (SPEE) for quadrotor systems. The SPEE strategy integrates dynamic and kinematic equations. Initially, the kinematic equations planning the desired higher-order derivative online to compensate for current state errors. Subsequently, the dynamics equation estimates lumped disturbances and executes the desired higher-order derivative algebraically. Unlike traditional control methods, the proposed strategy eliminates the need for fine-tuning feedback gains and a precise system model, ensuring state convergence within a specified time frame. Theoretical error bounds of this strategy are analyzed, and its effectiveness is validated through comprehensive simulations and practical experiments. The closed-loop system demonstrates robust performance against internal uncertainties, external disturbances, and insufficient battery power.

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四旋翼飞行器同步规划、估计和执行下跟踪控制性能的改进

四旋翼飞行器的动力学提出了重大的挑战，包括欠驱动、外部干扰和参数不确定性。为了解决这些挑战并实现精确的给定时间跟踪，本文提出了一种新的控制策略，称为四旋翼系统的同步规划，估计和执行（SPEE）。SPEE策略集成了动力学方程和运动学方程。首先，运动学方程在线规划所需的高阶导数以补偿当前状态误差。然后，利用动力学方程估计集总扰动，并进行期望的高阶导数代数运算。与传统的控制方法不同，该策略消除了对反馈增益的微调和精确的系统模型的需要，确保了在指定的时间框架内状态收敛。分析了该策略的理论误差范围，并通过综合仿真和实际实验验证了该策略的有效性。闭环系统对内部不确定性、外部干扰和电池电量不足表现出鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.