使用线性二次方位积分微分游戏方法控制3-DoF四旋翼平台的态度控制
Ali BaniAsad1, Reza Pordal1, Alireza Sharifi1
1Department of Aerospace Engineering Sharif University of Technology, Tehran, Iran.
ISA transactions
|March 15, 2024
概括
本研究将游戏理论方法应用于四旋翼控制,增强稳定性和干扰排斥. 该方法在处理输入干扰方面表现优于传统控制器.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 游戏理论应用 游戏理论应用
- 四旋翼动力学四旋翼动力学
背景情况:
- 四旋翼姿态控制对于稳定的飞行至关重要.
- 传统的控制器面临外部干扰和模型不确定性的挑战.
- 游戏理论为强大的控制设计提供了一个新的框架.
研究的目的:
- 开发和评估用于四旋翼的态度调节和跟踪的线性二次方位积分差分游戏方法.
- 调查控制器在干扰拒绝方面的性能及其对模拟不确定性的稳定性.
- 将拟议的基于游戏理论的控制器与PID,LQR和LIQR等既有方法进行比较.
主要方法:
- 模拟四旋翼的态度动态.
- 使用非线性最小方程信任区域反射方法进行参数识别.
- 实施一个双人差异游戏来控制和制造干扰.
- 通过模拟和与基准控制器进行比较来评估性能.
主要成果:
- 拟议的游戏理论方法有效地调节和跟踪四旋翼欧勒角.
- 与PID,LQR和LIQR相比,控制器表现出优越的干扰排斥能力.
- 不确定性建模显著影响控制器的性能,突出了对强大的设计的需求.
- 基于游戏理论的控制器在处理输入干扰方面表现出显著的有效性.
结论:
- 线性二次积分微分游戏方法为四旋翼的态度控制提供了强大的和有效的解决方案.
- 这种方法比传统控制器具有显著的优势,特别是在存在干扰的情况下.
- 这项研究证实了游戏理论在解决实验平台中复杂控制问题的实用性.
相关概念视频
01:24Absolute Motion Analysis- General Plane Motion
219
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
219
01:24PI Controller: Design
264
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
264
01:22Controller Configurations
96
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
96
01:13Linear Momentum in Control Volume
1.0K
Newton's second law is applied to obtain the linear momentum in a control volume in a fluid system. According to this law, the rate of change of linear momentum is equal to the sum of external forces acting on the system. When a control volume matches the fluid system at a specific moment, the forces acting on both are identical. Reynolds transport theorem helps explain this by breaking down the system's linear momentum into two components: the rate of change of linear momentum within...
1.0K
01:19PID Controller
117
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
117
01:30Three-Dimensional Force System:Problem Solving
666
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
666