论文标题
通过基于高斯流程的控制和计划，用微型四轮驱动器进行反转
Backflipping with Miniature Quadcopters by Gaussian Process Based Control and Planning
论文作者
论文摘要
该论文提出了两种控制方法，用于用微型四轮驱动器进行反弹式操纵。首先，通过使用替代高斯过程模型通过贝叶斯优化找到最佳的运动原始序列，可以改善现有的前馈控制方法。为了评估成本函数，在模拟环境中反复执行翻转操作。第二种方法基于闭环控制，它由两个主要步骤组成：首先，即使在模型不确定性的情况下，自适应控制器也旨在提供可靠的参考跟踪。控制器是通过使用测量数据训练的高斯过程来增强无人机的标称模型来构建的。其次，提出了一种有效的轨迹计划算法，该算法仅使用二次编程设计为翻转操作的可行轨迹。在模拟和实际实验中使用BitCraze Crazyflie 2.1四肢旋转器分析了这两种方法。
The paper proposes two control methods for performing a backflip maneuver with miniature quadcopters. First, an existing feedforward control approach is improved by finding the optimal sequence of motion primitives via Bayesian optimization, using a surrogate Gaussian Process model. To evaluate the cost function, the flip maneuver is performed repeatedly in a simulation environment. The second method is based on closed-loop control and it consists of two main steps: first a novel robust, adaptive controller is designed to provide reliable reference tracking even in case of model uncertainties. The controller is constructed by augmenting the nominal model of the drone with a Gaussian Process that is trained by using measurement data. Second, an efficient trajectory planning algorithm is proposed, which designs feasible trajectories for the flip maneuver by using only quadratic programming. The two approaches are analyzed in simulations and in real experiments using Bitcraze Crazyflie 2.1 quadcopters.
