通过加速度反馈实现四旋翼精准推力微调，提升动态抓取稳定性。
Thrust Microstepping via Acceleration Feedback in Quadrotor Control for Aerial Grasping of Dynamic Payload
- 基于加速度反馈的推力微调机制，无需依赖质量等系统参数。
- 在复杂环境下实现0.04米的抓取位置均方根误差，优于现有方法。
- 适合无人机在室内、强风、无定位传感器等严苛场景下执行动态抓取。
本文提出一种端到端的推力微调与解耦控制（TMDC）方法，用于四旋翼在空中对动态负载进行精确偏心抓取。与传统悬挂负载不同，该负载刚性连接于飞行器本体，抓取过程会快速改变飞行器的质量、惯性等参数，导致飞行不稳定。我们发现，在未知负载抓取中，推力控制器的作用至关重要。因此，本方法专注于不依赖质量等系统参数的推力控制。核心为新型加速度反馈推力微调（TMAF）与解耦运动控制（DMC）。TMAF能在较低控制周期下精确估计所需推力，而DMC则解耦水平与垂直运动，以抑制动态负载带来的扰动。通过大量实验验证，该方法在实际严苛场景中表现优异，如完全基于机载状态估计、无定位传感器、狭窄室内空间、强风干扰、重载、非均匀控制周期等。相比近期直接加速度反馈推力控制器（DA）和几何跟踪控制（GT），TMDC在空中抓取中表现更稳定，位置均方根误差低于0.04米，显著优于DA的0.15米和GT的0.16米。
原文摘要 · Abstract (English)
In this work, we propose an end-to-end Thrust Microstepping and Decoupled Control (TMDC) of quadrotors. TMDC focuses on precise off-centered aerial grasping of payloads dynamically, which are attached rigidly to the UAV body via a gripper contrary to the swinging payload. The dynamic payload grasping quickly changes UAV's mass, inertia etc, causing instability while performing a grasping operation in-air. We identify that to handle unknown payload grasping, the role of thrust controller is crucial. Hence, we focus on thrust control without involving system parameters such as mass etc. TMDC is based on our novel Thrust Microstepping via Acceleration Feedback (TMAF) thrust controller and Decoupled Motion Control (DMC). TMAF precisely estimates the desired thrust even at smaller loop rates while DMC decouples the horizontal and vertical motion to counteract disturbances in the case of dynamic payloads. We prove the controller's efficacy via exhaustive experiments in practically interesting and adverse real-world cases, such as fully onboard state estimation without any positioning sensor, narrow and indoor flying workspaces with intense wind turbulence, heavy payloads, non-uniform loop rates, etc. Our TMDC outperforms recent direct acceleration feedback thrust controller (DA) and geometric tracking control (GT) in flying stably for aerial grasping and achieves RMSE below 0.04m in contrast to 0.15m of DA and 0.16m of GT.
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