Controller and Trajectory Optimization for a Quadrotor UAV with Parametric Uncertainty
Résumé
In this work, we exploit the recent notion of closed-loop state sensitivity to critically compare three typical controllers for a quadrotor UAV with the goal of evaluating the impact of controller choice, gain tuning and shape of the reference trajectory in minimizing the sensitivity of the closedloop system against uncertainties in the model parameters. To this end, we propose a novel optimization problem that takes into account both the shape of the reference trajectory and the controller gains. We then run a large statistical campaign for comparing the performance of the three controllers which provides some interesting insight for the goal of increasing closed-loop robustness against parametric uncertainties.
Domaines
Automatique| Origine | Fichiers produits par l'(les) auteur(s) |
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