An Efficient Egocentric Regulator for Continuous Targeting Problems of the Underactuated Quadrotor

by   Ziying Lin, et al.

Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the underactuated characteristics of the quadrotor and the coupled kinematics with the animal, nonlinear optimal tracking approaches, other than smooth feedback control, are required. However, with severe nonlinearities, it would be time-consuming to evaluate control inputs, and real-time tracking may not be achieved with generic optimizers onboard. To tackle this problem, a novel efficient egocentric regulation approach with high computational efficiency is proposed in this paper. Specifically, it directly formulates the optimal tracking problem in an egocentric manner regarding the quadrotor's body coordinates. Meanwhile, the nonlinearities of the system are peeled off through a mapping of the feedback states as well as control inputs, between the inertial and body coordinates. In this way, the proposed efficient egocentric regulator only requires solving a quadratic performance objective with linear constraints and then generate control inputs analytically. Comparative simulations and mimic biological experiment are carried out to verify the effectiveness and computational efficiency. Results demonstrate that the proposed control approach presents the highest and stablest computational efficiency than generic optimizers on different platforms. Particularly, on a commonly utilized onboard computer, our method can compute the control action in approximately 0.3 ms, which is on the order of 350 times faster than that of generic nonlinear optimizers, establishing a control frequency around 3000 Hz.


page 1

page 9


Nonlinear disturbance attenuation control of hydraulic robotics

This paper presents a novel nonlinear disturbance rejection control for ...

Sequential Convex Programming for Collaboration of Connected and Automated Vehicles

This paper investigates the collaboration of multiple connected and auto...

Efficient Optimization of Performance Measures by Classifier Adaptation

In practical applications, machine learning algorithms are often needed ...

An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay

The advances in computer processor technology have enabled the applicati...

Discrete LQR and ILQR methods based on high order Runge-Kutta methods

In this paper, discrete linear quadratic regulator (DLQR) and iterative ...

Ballistic Multibody Estimator for 2D Open Kinematic Chain

Applications of free-flying robots range from entertainment purposes to ...

Neural-Rendezvous: Learning-based Robust Guidance and Control to Encounter Interstellar Objects

Interstellar objects (ISOs), astronomical objects not gravitationally bo...

Please sign up or login with your details

Forgot password? Click here to reset