在线识别参数，实现四旋翼鲁棒姿态控制
Robust $\mathcal{H}_\infty$ Controller Design For INDI-Controlled Quadrotor Using Online Parameter Identification
- 基于在线参数辨识的非线性动态逆内环，实时更新模型参数
- 采用信号域$/mathcal{H}_ inity$设计方法，保证系统稳定裕度
- 实测在40毫秒执行器响应下仍保持良好飞行性能
近期研究表明，多旋翼可于半秒内完成增量非线性动态逆（INDI）控制器所有物理参数的机载辨识，足以在空中投掷过程中完成完整识别。然而，如何根据模型参数自适应调整该反馈线性化控制器外环增益仍缺乏有效方法。本文提出一种基于在线参数辨识的鲁棒增益调度姿态控制器，采用基于信号的$/mathcal{H}_ inity$闭环整形方法设计级联控制器，并引入前馈滤波器，适用于对称四旋翼。非线性仿真验证了其在不确定性下的良好跟踪性能与稳定裕度。实验通过全在线参数辨识的飞行测试进一步验证：即使辨识参数远超预设不确定范围，只要执行器时间常数低于40毫秒，飞行表现仍可达到接近仿真的水平。
原文摘要 · Abstract (English)
It has recently been shown that all physical parameters of an Incremental Nonlinear Dynamic Inversion (INDI) controller can be estimated onboard a multirotor within half a second, which is fast enough to do the full identification during a throw in the air. However, a robust method to tune outer loop gains for this feedback-linearizing INDI controller depending on the model parameters is still missing. This work presents the design of a robust gain-scheduled controller for attitude control of quadrotor, using an INDI-based inner loop with online identification of its system parameters. A gain-scheduled cascaded attitude controller with a feedforward filter is synthesized for a symmetric quadrotor using signal-based $\mathcal{H}_\infty$ closed-loop shaping. The resulting controller exhibits good stability margins, with nonlinear simulations confirming effective tracking performance under uncertainty. Experimental evaluation is also conducted through flight tests with full online parameter identification. Even though the identified parameters during these tests are far outside the defined uncertainty range, acceptable flight performance comparable to simulation results is maintained for actuator time constants below 40 ms.
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