Dynamics and Control of Quadcopter in Uncertain Environment

Luchinsky, D G ; Schuet, S R ; Goebel, K

关键词: DYNAMIC CONTROL;    HELICOPTER CONTROL;    ROTOR DYNAMICS;    UNCERTAIN SYSTEMS;    TRAJECTORIES;    LINEAR QUADRATIC REGULATOR;    LINEAR QUADRATIC GAUSSIAN CONTROL;    GUSTS;    AERODYNAMIC CHARACTERISTICS;   

RP-ID  :  ARC-E-DAA-TN54034

学科分类：航空航天科学

美国|英语

来源: NASA Technical Reports Server

【 摘 要 】

We consider problem of dynamics, control, and uncertainty quantification for quadcopter. We use the 6DOF model of quadcopter dynamics, linear quadratic regulator and linear quadratic Gaussian control of quadcopter in the presence of dynamical disturbances, measurement noise, hidden dynamical variables, dashing GPS signal, and wind gusts to predict quadcopter trajectory. We identify key sources of uncertainties and report on progress in development of a system that estimates the probability of safety-critical events using a set of algorithms based on the trajectory predictions.