通过鲁棒控制实现六旋翼全姿态精准跟踪，抗干扰能力强。
Full-Pose Tracking via Robust Control for Over-Actuated Multirotors
- 采用增量非线性动态逆与H_inf控制融合架构，提升系统稳定性。
- 在六旋翼仿真中实现高精度姿态与位置跟踪，抗扰性能优越。
- 适合复杂任务场景的无人机控制，尤其适用于过驱动飞行器。
本文提出一种针对过驱动多旋翼的鲁棒级联控制架构，将最初用于欠驱动多旋翼的增量非线性动态逆（INDI）结合结构化H_inf控制方法扩展至更广泛的多旋翼配置。为实现精确且鲁棒的姿态与位置跟踪，采用加权最小二乘几何引导控制分配方法，将其建模为二次优化问题，从而支持全姿态跟踪。该方法有效应对了不可行姿态参考、外部扰动鲁棒性及实际物理约束等关键挑战。数值仿真基于过驱动六旋翼验证了该方法的有效性，展示了其在多样化任务场景中的适应能力，具备实际空中应用潜力。
原文摘要 · Abstract (English)
This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with structured H_inf control, initially proposed for under-actuated multirotors, to a broader range of multirotor configurations. To achieve precise and robust attitude and position tracking, we employ a weighted least-squares geometric guidance control allocation method, formulated as a quadratic optimization problem, enabling full-pose tracking. The proposed approach effectively addresses key challenges, such as preventing infeasible pose references and enhancing robustness against disturbances, as well as considering multirotor's actual physical limitations. Numerical simulations with an over-actuated hexacopter validate the method's effectiveness, demonstrating its adaptability to diverse mission scenarios and its potential for real-world aerial applications.
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