Application of Log-Linear Dynamic Inversion Control to a Multi-rotor

Autor:	Lin, Li-Yu, Goppert, James, Hwang, Inseok
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	This paper presents an approach that employs log-linearization in Lie group theory and the Newton-Euler equations to derive exact linear error dynamics for a multi-rotor model, and applies this model with a novel log-linear dynamic inversion controller to simplify the nonlinear distortion and enhance the robustness of the log-linearized system. In addition, we utilize Linear Matrix Inequalities (LMIs) to bound the tracking error for the log-linearization in the presence of bounded disturbance input and use the exponential map to compute the invariant set of the nonlinear system in the Lie group. We demonstrate the effectiveness of our method via an illustrative example of a multi-rotor system with a reference trajectory, and the result validates the safety guarantees of the tracking error in the presence of bounded disturbance. Comment: 5 pages, 3 figures, published in Workshop on Geometric Representations, ICRA IEEE, 2023
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2409.10866 Zobrazit plný text záznamu View this record from Arxiv