无需优化即可实现足式飞行机器人的稳定控制与地面反力估计
Optimization free control and ground force estimation with momentum observer for a multimodal legged aerial robot
- 用无优化的参考生成器替代复杂计算，提升实时性
- 通过速度参考滤波确保足端不打滑，满足摩擦锥约束
- 基于共轭动量观测器精准估计地面反力，适合高动态场景
足式-飞行多模态机器人能同时利用足式与飞行系统的优点。本文提出一种控制框架，通过无优化的显式参考生成器（ERG）绕过复杂的机载计算，该生成器融合了姿态控制器提供的外部推进力。传统方法依赖代价高昂的优化求解器来保证地面反力在摩擦锥内，而本框架通过滤波施加的速度参考，确保足端无滑移。此外，提出一种共轭动量观测器，用于估计地面反力，并在简化版Husky仿真中与受限模型对比，验证其有效性。
原文摘要 · Abstract (English)
Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an optimization-free Explicit Reference Governor that incorporates external thruster forces from an attitude controller. Ground reaction forces are maintained within friction cone constraints using costly optimization solvers, but the ERG framework filters applied velocity references that ensure no slippage at the foot end. We also propose a Conjugate momentum observer, that is widely used in Disturbance Observation to estimate ground reaction forces and compare its efficacy against a constrained model in estimating ground reaction forces in a reduced-order simulation of Husky.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。