Parameter-Independent Trajectory Tracking for Rotorcraft UAVs
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Solution Overview
Problem
Existing trajectory tracking controllers for rotorcraft UAVs require precise modeling and characterization of system parameters, making them inflexible and costly to adapt to different UAV models, and they degrade in performance due to changes in system parameters or external disturbances without reconfiguration.
Innovation Solution
A trajectory tracking controller that calculates control variables independently of system parameters such as mass, moments of inertia, and motor thrusts, allowing adaptation to various UAVs with minimal tuning and maintaining precise navigation despite changes in system parameters and external disturbances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If precise modeling and characterization of system parameters is used, then trajectory tracking accuracy is improved, but adaptability to different UAV models and parameter changes deteriorates
Solution Approach 1:
The patent transforms the control approach from parameter-dependent to parameter-independent by changing the mathematical formulation of the controller. Instead of using precise system parameters (mass, inertia, thrust coefficients) in the control law, the invention derives a controller that achieves accurate trajectory tracking without requiring these parameters, thereby resolving the contradiction between tracking accuracy and adaptability.
Solution Approach 2:
The patent replaces the traditional model-based control mechanism (which relies on mechanical system parameters) with a novel control law that substitutes the need for parameter characterization. The control approach is transformed from one requiring detailed system modeling to one that operates independently of specific system parameters, enabling universal application across different UAV configurations.
2Reliability
If precise modeling of system parameters is used, then initial performance is improved, but performance under parameter changes and external disturbances deteriorates
Solution Approach 1:
The patent fundamentally changes the control paradigm from parameter-sensitive to parameter-insensitive by deriving a control law that does not incorporate system parameters. This parameter transformation approach ensures that the controller maintains reliable performance regardless of parameter variations or external disturbances, eliminating the trade-off between initial performance and robustness.
3Measurement precision
If model-based control is used, then control precision is improved, but device complexity and reconfiguration cost increase
Solution Approach 1:
The patent substitutes the complex model-based control structure with a simplified control law that eliminates the need for system parameter modeling. By replacing the traditional approach requiring detailed system models with a parameter-independent formulation, the invention reduces controller complexity while maintaining control precision, and enables universal application without reconfiguration.
Data Source
AI summary
Apparatus, systems, methods, and articles of manufacture for tracking a trajectory by rotorcraft unmanned aerial vehicles (UAVs) are described herein. An example trajectory tracking controller includes an altitude controller to calculate an output value of a thrust control variable based on a trajectory of a rotorcraft independent of one or more system parameters of the rotorcraft. The example trajectory tracking controller also includes an attitude controller to calculate output values of roll, pitch, and yaw control variables based on the trajectory independent of the one or more of the system parameters. The example trajectory tracking controller further includes a motor speed selector to select speeds for propeller motors of the rotorcraft based on the output values of the thrust, roll, pitch, and yaw control variables and activate the propeller motors based on the selected motor speeds.