A Reference Governor with Adaptive Performance for Quadrotors under Safety Constraints
This paper presents a novel robust reference governor (RG) for trajectory tracking of quadrotors. The proposed scheme is characterized by low computational complexity and straightforward gain selection. Moreover, it considers safety constraints regarding speed limits and ensures the stability and th...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/11/984 |
| _version_ | 1797458614598762496 |
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| author | Panagiotis S. Trakas Andreas Tantoulas Charalampos P. Bechlioulis |
| author_facet | Panagiotis S. Trakas Andreas Tantoulas Charalampos P. Bechlioulis |
| author_sort | Panagiotis S. Trakas |
| collection | DOAJ |
| description | This paper presents a novel robust reference governor (RG) for trajectory tracking of quadrotors. The proposed scheme is characterized by low computational complexity and straightforward gain selection. Moreover, it considers safety constraints regarding speed limits and ensures the stability and the proper operation of the closed-loop system. The proposed scheme imposes user-specified performance attributes on the evolution of the tracking error when the safety constraints allow it. When these constraints are at risk of violation, the proposed RG provides a relaxation of the predefined performance specifications to ensure the stability of the plant. Lyapunov analysis proves the boundedness of the closed-loop signals, while its efficacy is further clarified and verified via extensive comparative experimental results against a well-established PI regulator. |
| first_indexed | 2024-03-09T16:40:38Z |
| format | Article |
| id | doaj.art-f137088b684542f6bb33bb9fb12331bb |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T16:40:38Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-f137088b684542f6bb33bb9fb12331bb2023-11-24T14:52:52ZengMDPI AGMachines2075-17022023-10-01111198410.3390/machines11110984A Reference Governor with Adaptive Performance for Quadrotors under Safety ConstraintsPanagiotis S. Trakas0Andreas Tantoulas1Charalampos P. Bechlioulis2Department of Electrical and Computer Engineering, University of Patras, 26504 Patras, GreeceDepartment of Electrical and Computer Engineering, University of Patras, 26504 Patras, GreeceDepartment of Electrical and Computer Engineering, University of Patras, 26504 Patras, GreeceThis paper presents a novel robust reference governor (RG) for trajectory tracking of quadrotors. The proposed scheme is characterized by low computational complexity and straightforward gain selection. Moreover, it considers safety constraints regarding speed limits and ensures the stability and the proper operation of the closed-loop system. The proposed scheme imposes user-specified performance attributes on the evolution of the tracking error when the safety constraints allow it. When these constraints are at risk of violation, the proposed RG provides a relaxation of the predefined performance specifications to ensure the stability of the plant. Lyapunov analysis proves the boundedness of the closed-loop signals, while its efficacy is further clarified and verified via extensive comparative experimental results against a well-established PI regulator.https://www.mdpi.com/2075-1702/11/11/984adaptive performance controlinput constraintsreference governor |
| spellingShingle | Panagiotis S. Trakas Andreas Tantoulas Charalampos P. Bechlioulis A Reference Governor with Adaptive Performance for Quadrotors under Safety Constraints Machines adaptive performance control input constraints reference governor |
| title | A Reference Governor with Adaptive Performance for Quadrotors under Safety Constraints |
| title_full | A Reference Governor with Adaptive Performance for Quadrotors under Safety Constraints |
| title_fullStr | A Reference Governor with Adaptive Performance for Quadrotors under Safety Constraints |
| title_full_unstemmed | A Reference Governor with Adaptive Performance for Quadrotors under Safety Constraints |
| title_short | A Reference Governor with Adaptive Performance for Quadrotors under Safety Constraints |
| title_sort | reference governor with adaptive performance for quadrotors under safety constraints |
| topic | adaptive performance control input constraints reference governor |
| url | https://www.mdpi.com/2075-1702/11/11/984 |
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