Kim Jaechul Graduate School of AI, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, Korea.
Sensors (Basel). 2021 Dec 27;22(1):150. doi: 10.3390/s22010150.
Recently, the use of quadrotors has increased in numerous applications, such as agriculture, rescue, transportation, inspection, and localization. Time-optimal quadrotor waypoint tracking is defined as controlling quadrotors to follow the given waypoints as quickly as possible. Although PID control is widely used for quadrotor control, it is not adaptable to environmental changes, such as various trajectories and dynamic external disturbances. In this work, we discover that adjusting PID control frequencies is necessary for adapting to environmental changes by showing that the optimal control frequencies can be different for different environments. Therefore, we suggest a method to schedule the PID position and attitude control frequencies for time-optimal quadrotor waypoint tracking. The method includes (1) a Control Frequency Agent (CFA) that finds the best control frequencies in various environments, (2) a Quadrotor Future Predictor (QFP) that predicts the next state of a quadrotor, and (3) combining the CFA and QFP for time-optimal quadrotor waypoint tracking under unknown external disturbances. The experimental results prove the effectiveness of the proposed method by showing that it reduces the travel time of a quadrotor for waypoint tracking.
最近，四旋翼飞行器在许多应用中得到了广泛应用，如农业、救援、运输、检查和定位。四旋翼飞行器的时间最优航点跟踪定义为控制四旋翼飞行器尽快跟随给定的航点。虽然 PID 控制在四旋翼控制中被广泛使用，但它不适应环境变化，如各种轨迹和动态外部干扰。在这项工作中，我们发现通过显示最优控制频率可能因环境而异，调整 PID 控制频率对于适应环境变化是必要的。因此，我们提出了一种用于时间最优四旋翼飞行器航点跟踪的 PID 位置和姿态控制频率调度方法。该方法包括 (1) 一个控制频率代理 (CFA)，用于在各种环境中找到最佳的控制频率，(2) 一个四旋翼飞行器未来预测器 (QFP)，用于预测四旋翼飞行器的下一个状态，以及 (3) 将 CFA 和 QFP 结合起来，在未知外部干扰下进行时间最优的四旋翼飞行器航点跟踪。实验结果证明了所提出方法的有效性，表明它减少了四旋翼飞行器在航点跟踪中的飞行时间。
