论文标题
非伴随控制障碍功能，用于安全控制四型
Non-cascaded Control Barrier Functions for the Safe Control of Quadrotors
论文作者
论文摘要
近年来，研究人员开发了各种级联的控制器和非casced式控制器，用于导航和控制二次运动。如果控制器倾向于使四型不安全不安全，则至关重要的是要确保正常状态和异常状态的四型人的安全性至关重要。为此，本文提出了由级联控制器或非casced式控制器控制的四摩托器的非伴随控制屏障功能（CBF）。与二次编程（QP）合并后，非caScaded CBF可以同时调节总推力的大小，而四极管的扭矩确定了一个控制器，以确保正常状态和异常状态的四极管的安全性。非伴随的CBF建立了一个非保守的向前不变的安全区域，其中四型二次控制器的控制器在导航或姿势控制四极管方面具有完全或部分有效。在模拟中，非伴随的CBF应用于执行轨迹跟踪的四轨进行轨迹跟踪，并在模拟中执行侵略性滚动手术，以评估非caScaded CBF的有效性。
Researchers have developed various cascaded controllers and non-cascaded controllers for the navigation and control of quadrotors in recent years. It is vital to ensure the safety of a quadrotor both in normal state and in abnormal state if a controller tends to make the quadrotor unsafe. To this end, this paper proposes a non-cascaded Control Barrier Function (CBF) for a quadrotor controlled by either cascaded controllers or a non-cascaded controller. Incorporated with a Quadratic Programming (QP), the non-cascaded CBF can simultaneously regulate the magnitude of the total thrust and the torque of the quadrotor determined a controller, so as to ensure the safety of the quadrotor both in normal state and in abnormal state. The non-cascaded CBF establishes a non-conservative forward invariant safe region, in which the controller of a quadrotor is fully or partially effective in the navigation or the pose control of the quadrotor. The non-cascaded CBF is applied to a quadrotor performing trajectory tracking and a quadrotor performing aggressive roll maneuvers in simulations to evaluate the effectiveness of the non-cascaded CBF.
