论文标题
基于指数稳定的基于观察者的VTOL-UAV的控制器，没有速度测量
Exponentially Stable Observer-based Controller for VTOL-UAVs without Velocity Measurements
论文作者
论文摘要
对于可以使用全球定位系统（GPS）运行的基于视觉的机器人技术解决方案的需求也很大，但也对GPS信号丢失和陀螺仪故障也很强大。本文调查了垂直起飞和降落（VTOL）无人驾驶汽车（UAV）的估计和跟踪控制，以六个自由度（6 DOF）。 A full state observer for the estimation of VTOL-UAV motion parameters (attitude, angular velocity, position, and linear velocity) is proposed on the Lie Group of $\mathbb{SE}_{2}\left(3\right)\times\mathbb{R}^{3}$ $ = \ Mathbb {so} \ left（3 \ right）\ times \ times \ mathbb {r}^{9} $，几乎全球稳定的闭合环错误信号。此后，在Lie组中提出了一个基于状态观察者的VTOL-UAV运动参数的完整观察者控制器，并保证了几乎全局的指数稳定性。所提出的方法可产生良好的效果，而无需使用视觉辅助单元（单眼或立体声摄像头）获得的一组已知地标（无陀螺仪和GPS信号）（无陀螺仪和GPS信号）。附录中提供了$ \ mathbb {s}^{3} \ times \ mathbb {r}^{9} $的等效Quaternion表示。基于观察者的控制器以连续形式呈现，同时使用VTOL-UAV模拟测试其离散版本，该模拟包含大型初始误差和不确定的测量结果。拟议的观察者还在现实世界无人机飞行数据集上进行实验测试。关键字：无人机，非线性滤清器算法，自动导航，跟踪控制，特征测量，基于观察者的控制器，定位，指数稳定性，渐近稳定性，渐近稳定性，惯性测量单元（IMU），全球定位系统（GPS），视觉辅助惯性导航系统。
There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking control in application to a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in six degrees of freedom (6 DoF). A full state observer for the estimation of VTOL-UAV motion parameters (attitude, angular velocity, position, and linear velocity) is proposed on the Lie Group of $\mathbb{SE}_{2}\left(3\right)\times\mathbb{R}^{3}$ $=\mathbb{SO}\left(3\right)\times\mathbb{R}^{9}$ with almost globally exponentially stable closed loop error signals. Thereafter, a full state observer-based controller for the VTOL-UAV motion parameters is proposed on the Lie Group with a guaranteed almost global exponential stability. The proposed approach produces good results without the need for angular and linear velocity measurements (without a gyroscope and GPS signals) utilizing only a set of known landmarks obtained by a vision-aided unit (monocular or stereo camera). The equivalent quaternion representation on $\mathbb{S}^{3}\times\mathbb{R}^{9}$ is provided in the Appendix. The observer-based controller is presented in a continuous form while its discrete version is tested using a VTOL-UAV simulation that incorporates large initial error and uncertain measurements. The proposed observer is additionally tested experimentally on a real-world UAV flight dataset. Keywords: Unmanned aerial vehicle, nonlinear filter algorithm, autonomous navigation, tracking control, feature measurement, observer-based controller, localization, exponential stability, asymptotic stability, inertial measurement unit (IMU), Global Positioning Systems (GPS), vision aided inertial navigation system.
