四旋翼无人机的时间逼近最优纵向控制

2021 10th International Conference on Modern Circuits and Systems Technologies (MOCAST) Pub Date : 2021-07-05 DOI:10.1109/MOCAST52088.2021.9493385

Dimitris Nikitas, Konstantinos Papafotis, P. Sotiriadis

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引用次数: 0

摘要

在这项工作中，我们提出了一种接近最优的四旋翼无人机纵向运动的Bang-Bang控制器，使主动飞行时间最小化。所提出的控制器是闭环的，具有简单的级联结构，与文献中的其他方法相比，它具有最小的计算需求，可以用于在线导航。对标准四旋翼非线性模型进行了数值模拟。

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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Time-Near-Optimal Longitudinal Control for Quadrotor UAVs

In this work we propose a near-optimal Bang-Bang controller for the longitudinal motion of a quadrotor UAV which minimizes the active flight time. The proposed controller is closed loop, has simple cascaded structure and can be used in online navigation since it has minimum computational requirements compared to other approaches in the literature. It is evaluated via numerical simulation for a standard quadrotor nonlinear model.

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2021 10th International Conference on Modern Circuits and Systems Technologies (MOCAST)

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