Abstract
This paper presents two constraint management strategies based on Reference Governors (RG) to enforce output and state constraints on nonlinear dynamics of quadcopter drones. The first solution, referred to as the nonlinear decoupled reference governor (NL-DRG), is based on the sequential application of three bisection searches and online numerical simulations to find constraint-aware reference commands for each of the pitch, roll, and yaw channels. While NL-DRG performs well, it relies on online simulations and is thus computationally demanding. For applications where a smaller computational footprint is desired, we propose a second solution, which we refer to as the modified reference governor (M-RG). This solution consists of the sequential application of three scalar reference governors based on linear prediction models, each robustified to account for the worst-case linearization error and coupling behavior. The M-RG can guarantee constraint satisfaction for the quadcopter dynamics while maintaining the highly-attractive computational features of scalar reference governors. However, the performance of M-RG may be more conservative than that for NL-DRG, so a trade-off between computation and performance can be made. Finally, a quantitative comparison between all the methods is presented in terms of performance and computation time.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.