Artículo de Publicación Periódica: Control robusto H∞ para la velocidad de desplazamiento de un UAV en base a estimación de flujo óptico
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2021-07
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"Se presenta el diseño del control para la velocidad de desplazamiento de un vehículo aéreo de seis rotores. La técnica de diseño utilizada es el control optimo en H-infinito con el objetivo de conseguir rendimiento robusto ante la incertidumbre en el modelo de la dinámica de la velocidad de desplazamiento. Se considera que buena parte de la incertidumbre es atribuible a retardos de tiempo inciertos que introduce el propio algoritmo que se utiliza para estimar la velocidad de desplazamiento. El vehículo realiza a bordo la estimación de esta última a través de un sensor de flujo óptico implementado con una cámara y un procesador de alto nivel en el cual además se implementa la ley de control. Junto con el diseño del control, se muestra el procedimiento de identificación de sistemas utilizado para conseguir una descripción de la dinámica a través de una familia de plantas con incertidumbre dinámica global a través de la toma de datos experimentales. Finalmente se exhiben resultados experimentales con la implementación del sistema de control completo."
"The design of a displacement velocity controller is presented for a six rotor aerial vehicle. H–infinity control is proposed in order to achieve robust performance in presence of dynamic model uncertainty. It is assumed that a considerable amount of uncertainty is due to time delays introduced by the algorithms employed. The estimation of the vehicle’s displacement velocity is carried out on-board through an optical flow sensor implemented employing a camera and a high level processor as well as the H–infinity controller. Through experimental data, the system’s identification procedure used to obtain a description of the plant as a family of models with global dynamic uncertainty is also presented as part of the design process. The implemented optical flow estimation methods are also presented as well as the tuning procedures employed which may affect the results of the system’s identification and the control performance. Experimental results are presented with details regarding the implementation phase."
"The design of a displacement velocity controller is presented for a six rotor aerial vehicle. H–infinity control is proposed in order to achieve robust performance in presence of dynamic model uncertainty. It is assumed that a considerable amount of uncertainty is due to time delays introduced by the algorithms employed. The estimation of the vehicle’s displacement velocity is carried out on-board through an optical flow sensor implemented employing a camera and a high level processor as well as the H–infinity controller. Through experimental data, the system’s identification procedure used to obtain a description of the plant as a family of models with global dynamic uncertainty is also presented as part of the design process. The implemented optical flow estimation methods are also presented as well as the tuning procedures employed which may affect the results of the system’s identification and the control performance. Experimental results are presented with details regarding the implementation phase."
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CONTROL ROBUSTO, VEHICULOS AEREOS NO TRIPULADOS, FLUJO OPTICO