用误差状态建模提升四轴无人机轨迹跟踪精度与稳定性。
Error-State LQR Formulation for Quadrotor UAV Trajectory Tracking
- 基于误差状态和指数坐标线性化姿态误差，实现高效实时控制。
- 结合全状态反馈与级联体速率控制器，有效应对执行器动态。
- 适合对飞行稳定性要求高的无人机系统开发与研究者。
本文提出一种用于四轴无人飞行器（Quadrotor UAV）鲁棒轨迹跟踪的误差状态线性二次调节器（LQR）方法。该方法利用误差状态动力学，并采用指数坐标表示姿态误差，实现系统线性化，适用于实时控制。控制策略结合基于LQR的全状态反馈控制器进行轨迹跟踪，同时采用级联体速率控制器处理执行器动态。文中详细推导了误差状态动力学、线性化过程及控制器设计，凸显该方法在动态环境中实现精确稳定控制的适用性。
原文摘要 · Abstract (English)
This article presents an error-state Linear Quadratic Regulator (LQR) formulation for robust trajectory tracking in quadrotor Unmanned Aerial Vehicles (UAVs). The proposed approach leverages error-state dynamics and employs exponential coordinates to represent orientation errors, enabling a linearized system representation for real-time control. The control strategy integrates an LQR-based full-state feedback controller for trajectory tracking, combined with a cascaded bodyrate controller to handle actuator dynamics. Detailed derivations of the error-state dynamics, the linearization process, and the controller design are provided, highlighting the applicability of the method for precise and stable quadrotor control in dynamic environments.
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