Poznan University of Technology, Faculty of Automatic Control, Robotics and Electrical Engineering, Institute of Robotics and Machine Intelligence, ul. Piotrowo 3a, 60-965 Poznan, Poland.
ITTI Sp. z o.o., ul. Rubież 46, 62-612 Poznan, Poland.
Sensors (Basel). 2021 Feb 6;21(4):1151. doi: 10.3390/s21041151.
The paper addresses the loop shaping problem in the altitude control of an unmanned aerial vehicle to land the flying robot with a specific landing scenario adopted. The proposed solution is optimal, in the sense of the selected performance indices, namely minimum-time, minimum-energy, and velocity-penalized related functions, achieving their minimal values, with numerous experiments conducted throughout the development and preparation to the Mohamed Bin Zayed International Robotics Challenge (MBZIRC 2020). A novel approach to generation of a reference altitude trajectory is presented, which is then tracked in a standard, though optimized, control loop. Three landing scenarios are considered, namely: minimum-time, minimum-energy, and velocity-penalized landing scenarios. The experimental results obtained with the use of the Simulink Support Package for Parrot Minidrones, and the OptiTrack motion capture system proved the effectiveness of the proposed approach.
本文针对无人机的高度控制中的回路成形问题进行了研究，采用了特定的着陆场景来实现飞行机器人的着陆。所提出的解决方案是最优的，从所选择的性能指标来看，即最小时间、最小能量和速度惩罚相关函数，实现了它们的最小值，并在 Mohamed Bin Zayed International Robotics Challenge（MBZIRC 2020）的开发和准备过程中进行了大量实验。提出了一种新的参考高度轨迹生成方法，然后在标准的（尽管经过优化的）控制回路中对其进行跟踪。考虑了三种着陆场景，即：最小时间、最小能量和速度惩罚着陆场景。使用 Simulink Support Package for Parrot Minidrones 和 OptiTrack 运动捕捉系统获得的实验结果证明了所提出方法的有效性。
