Guided Time-optimal Model Predictive Control of a Multi-rotor
Fuente:
arXiv
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| Autores principales: | , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866917564312977408 |
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| author | Zhang, Guangyu Zheng, Yongjie He, Yuqing Yang, Liying Nie, Hongyu Huang, Chaoxiong Zhao, Yiwen |
| author_facet | Zhang, Guangyu Zheng, Yongjie He, Yuqing Yang, Liying Nie, Hongyu Huang, Chaoxiong Zhao, Yiwen |
| contents | Time-optimal control of a multi-rotor remains an open problem due to the under-actuation and nonlinearity of its dynamics, which make it difficult to solve this problem directly. In this paper, the time-optimal control problem of the multi-rotor is studied. Firstly, a thrust limit optimal decomposition method is proposed, which can reasonably decompose the limited thrust into three directions according to the current state and the target state. As a result, the thrust limit constraint is decomposed as a linear constraint. With the linear constraint and decoupled dynamics, a time-optimal guidance trajectory can be obtained. Then, a cost function is defined based on the time-optimal guidance trajectory, which has a quadratic form and can be used to evaluate the time-optimal performance of the system outputs. Finally, based on the cost function, the time-optimal control problem is reformulated as an MPC (Model Predictive Control) problem. The experimental results demonstrate the feasibility and validity of the proposed methods. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_03904 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Guided Time-optimal Model Predictive Control of a Multi-rotor Zhang, Guangyu Zheng, Yongjie He, Yuqing Yang, Liying Nie, Hongyu Huang, Chaoxiong Zhao, Yiwen Robotics Time-optimal control of a multi-rotor remains an open problem due to the under-actuation and nonlinearity of its dynamics, which make it difficult to solve this problem directly. In this paper, the time-optimal control problem of the multi-rotor is studied. Firstly, a thrust limit optimal decomposition method is proposed, which can reasonably decompose the limited thrust into three directions according to the current state and the target state. As a result, the thrust limit constraint is decomposed as a linear constraint. With the linear constraint and decoupled dynamics, a time-optimal guidance trajectory can be obtained. Then, a cost function is defined based on the time-optimal guidance trajectory, which has a quadratic form and can be used to evaluate the time-optimal performance of the system outputs. Finally, based on the cost function, the time-optimal control problem is reformulated as an MPC (Model Predictive Control) problem. The experimental results demonstrate the feasibility and validity of the proposed methods. |
| title | Guided Time-optimal Model Predictive Control of a Multi-rotor |
| topic | Robotics |
| url | https://arxiv.org/abs/2401.03904 |