Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2403.07269 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866912116522352640 |
|---|---|
| author | Gonçalves, Francisco M. F. R. Bena, Ryan M. Matveev, Konstantin I. Pérez-Arancibia, Néstor O. |
| author_facet | Gonçalves, Francisco M. F. R. Bena, Ryan M. Matveev, Konstantin I. Pérez-Arancibia, Néstor O. |
| contents | We present model predictive selection (MPS), a new method for selecting the stable closed-loop (CL) equilibrium attitude-error quaternion (AEQ) of an uncrewed aerial vehicle (UAV) during the execution of high-speed yaw maneuvers. In this approach, we minimize the cost of yawing measured with a performance figure of merit (PFM) that takes into account both the aerodynamic-torque control input and attitude-error state of the UAV. Specifically, this method uses a control law with a term whose sign is dynamically switched in real time to select, between two options, the torque associated with the lesser cost of rotation as predicted by a dynamical model of the UAV derived from first principles. This problem is relevant because the selection of the stable CL equilibrium AEQ significantly impacts the performance of a UAV during high-speed rotational flight, from both the power and control-error perspectives. To test and demonstrate the functionality and performance of the proposed method, we present data collected during one hundred real-time high-speed yaw-tracking flight experiments. These results highlight the superior capabilities of the proposed MPS-based scheme when compared to a benchmark controller commonly used in aerial robotics, as the PFM used to quantify the cost of flight is reduced by 60.30 %, on average. To our best knowledge, these are the first flight-test results that thoroughly demonstrate, evaluate, and compare the performance of a real-time controller capable of selecting the stable CL equilibrium AEQ during operation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_07269 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight Gonçalves, Francisco M. F. R. Bena, Ryan M. Matveev, Konstantin I. Pérez-Arancibia, Néstor O. Robotics Systems and Control We present model predictive selection (MPS), a new method for selecting the stable closed-loop (CL) equilibrium attitude-error quaternion (AEQ) of an uncrewed aerial vehicle (UAV) during the execution of high-speed yaw maneuvers. In this approach, we minimize the cost of yawing measured with a performance figure of merit (PFM) that takes into account both the aerodynamic-torque control input and attitude-error state of the UAV. Specifically, this method uses a control law with a term whose sign is dynamically switched in real time to select, between two options, the torque associated with the lesser cost of rotation as predicted by a dynamical model of the UAV derived from first principles. This problem is relevant because the selection of the stable CL equilibrium AEQ significantly impacts the performance of a UAV during high-speed rotational flight, from both the power and control-error perspectives. To test and demonstrate the functionality and performance of the proposed method, we present data collected during one hundred real-time high-speed yaw-tracking flight experiments. These results highlight the superior capabilities of the proposed MPS-based scheme when compared to a benchmark controller commonly used in aerial robotics, as the PFM used to quantify the cost of flight is reduced by 60.30 %, on average. To our best knowledge, these are the first flight-test results that thoroughly demonstrate, evaluate, and compare the performance of a real-time controller capable of selecting the stable CL equilibrium AEQ during operation. |
| title | MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2403.07269 |