为自主直升机设计轨迹跟踪控制，给出可证明的误差边界。
Trajectory Tracking Control Design for Autonomous Helicopters with Guaranteed Error Bounds
- 用椭球正不变集计算闭环位置误差边界。
- 仿真验证所有控制器均满足理论误差限。
- 适合需要安全保证的飞行控制应用。
本文提出一种系统化框架，基于鲁棒正不变（RPI）集，为自主直升机计算形式化保证的轨迹跟踪误差边界。方法聚焦于建立闭环平移误差动态，并将其转化为具有有界加性与状态相关扰动的多面体线性参数变化形式。通过计算椭球型RPI集，获得可用于高层轨迹规划中作为认证缓冲区的显式位置误差边界。对比了三种控制器架构在误差边界保守性与跟踪性能间的权衡。基于非线性直升机模型的仿真结果表明，所有架构均满足所推导的边界，同时揭示了动力学保真度与不变集计算保守性之间的权衡。
原文摘要 · Abstract (English)
This paper presents a systematic framework for computing formally guaranteed trajectory tracking error bounds for autonomous helicopters based on Robust Positive Invariant (RPI) sets. The approach focuses on establishing a closed-loop translational error dynamics which is cast into polytopic linear parameter-varying form with bounded additive and state-dependent disturbances. Ellipsoidal RPI sets are computed, yielding explicit position error bounds suitable as certified buffer zones in upper-level trajectory planning. Three controller architectures are compared with respect to the conservatism of their error bounds and tracking performance. Simulation results on a nonlinear helicopter model demonstrate that all architectures respect the derived bounds, while highlighting trade-offs between dynamical fidelity and conservatism in invariant set computation.
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