论文标题
四摩托控制的旋转误差指标
Rotational Error Metrics for Quadrotor Control
论文作者
论文摘要
我们分析并通过实验比较用于四摩托控制器的各种旋转误差指标。传统的四项态度控制器使用了Euler角度或完整旋转来计算态度错误并扩展以计算控制响应。最近，几项作品表明，态度控制器中的四型倾斜或推力向量误差的优先级会导致改进的位置控制，尤其是在较大的偏航误差的情况下。我们提供提出的旋转指标的目录，将它们放入相同的框架中，并表明我们可以独立推理和设计响应的幅度和响应方向。现有方法主要分为两类：（1）在最短方向诱导响应以纠正完整旋转误差的指标和（2）将响应沿最短方向组合的指标，以纠正倾斜误差和最短方向以纠正偏航误差。我们显示了实验结果，以突出旋转误差指标之间的显着差异。有关交互式仿真，请参见https://alspitz.github.io/roterrormetrics.html可视化执行的实验。
We analyze and experimentally compare various rotational error metrics for use in quadrotor controllers. Traditional quadrotor attitude controllers have used Euler angles or the full rotation to compute an attitude error and scale that to compute a control response. Recently, several works have shown that prioritizing quadrotor tilt, or thrust vector error, in the attitude controller leads to improved position control, especially in situations with large yaw error. We provide a catalog of proposed rotational metrics, place them into the same framework, and show that we can independently reason about and design the magnitude of the response and the direction of the response. Existing approaches mainly fall into two categories: (1) metrics that induce a response in the shortest direction to correct the full rotation error and (2) metrics that combine a response in the shortest direction to correct tilt error with the shortest direction to correct yaw error. We show experimental results to highlight the salient differences between the rotational error metrics. See https://alspitz.github.io/roterrormetrics.html for an interactive simulation visualizing the experiments performed.
