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Performance benchmarking of quadrotor systems using time-optimal control

Performance benchmarking of quadrotor systems using time-optimal control Frequently hailed for their dynamical capabilities, quadrotor vehicles are often employed as experimental platforms. However, questions surrounding achievable performance, influence of design parameters, and performance assessment of control strategies have remained largely unanswered. This paper presents an algorithm that allows the computation of quadrotor maneuvers that satisfy Pontryagin’s minimum principle with respect to time-optimality. Such maneuvers provide a useful lower bound on the duration of maneuvers, which can be used to assess performance of controllers and vehicle design parameters. Computations are based on a two-dimensional first-principles quadrotor model. The minimum principle is applied to this model to find that time-optimal trajectories are bang-bang in the thrust command, and bang-singular in the rotational rate control. This paper presents a procedure allowing the computation of time-optimal maneuvers for arbitrary initial and final states by solving the boundary value problem induced by the minimum principle. The usage of the computed maneuvers as a benchmark is demonstrated by evaluating quadrotor design parameters, and a linear feedback control law as an example of a control strategy. Computed maneuvers are verified experimentally by applying them to quadrocopters in the ETH Zurich Flying Machine Arena testbed. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Performance benchmarking of quadrotor systems using time-optimal control

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References (20)

Publisher
Springer Journals
Copyright
Copyright © 2012 by Springer Science+Business Media, LLC
Subject
Engineering; Artificial Intelligence (incl. Robotics); Control, Robotics, Mechatronics; Computer Imaging, Vision, Pattern Recognition and Graphics; Robotics and Automation
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1007/s10514-012-9282-3
Publisher site
See Article on Publisher Site

Abstract

Frequently hailed for their dynamical capabilities, quadrotor vehicles are often employed as experimental platforms. However, questions surrounding achievable performance, influence of design parameters, and performance assessment of control strategies have remained largely unanswered. This paper presents an algorithm that allows the computation of quadrotor maneuvers that satisfy Pontryagin’s minimum principle with respect to time-optimality. Such maneuvers provide a useful lower bound on the duration of maneuvers, which can be used to assess performance of controllers and vehicle design parameters. Computations are based on a two-dimensional first-principles quadrotor model. The minimum principle is applied to this model to find that time-optimal trajectories are bang-bang in the thrust command, and bang-singular in the rotational rate control. This paper presents a procedure allowing the computation of time-optimal maneuvers for arbitrary initial and final states by solving the boundary value problem induced by the minimum principle. The usage of the computed maneuvers as a benchmark is demonstrated by evaluating quadrotor design parameters, and a linear feedback control law as an example of a control strategy. Computed maneuvers are verified experimentally by applying them to quadrocopters in the ETH Zurich Flying Machine Arena testbed.

Journal

Autonomous RobotsSpringer Journals

Published: Mar 2, 2012

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