Safety-critical trajectory tracking control for quadrotors
Safety-critical control is critical in the applications of unmanned aerial vehicles (UAVs). For instance, an aerial robot such as a quadrotor needs to realize fast collision-free flight. However, the navigation strategy may conflict with the safety requirement. In this dissertation, the problem of s...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/163160 |
| _version_ | 1826126479593832448 |
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| author | Li, Xinyi |
| author2 | Hu Guoqiang |
| author_facet | Hu Guoqiang Li, Xinyi |
| author_sort | Li, Xinyi |
| collection | NTU |
| description | Safety-critical control is critical in the applications of unmanned aerial vehicles (UAVs). For instance, an aerial robot such as a quadrotor needs to realize fast collision-free flight. However, the navigation strategy may conflict with the safety requirement. In this dissertation, the problem of safety-critical trajectory tracking control for quadrotors is addressed. The proposed cascade controller consists of CLF-CBF-QP based position control, PID based velocity control and attitude control. In quadratic programming (QP), the hard safety constraints are derived from the Control Barrier Function (CBF) and the soft trajectory tracking constraints are formed based on a distance-based Control Lyapunov Function (CLF). The efficacy of the proposed approach is verified via simulations in MATLAB SIMULINK environment. The simulations include circular and square trajectories tracking with given ideal obstacles, and trajectory tracking with horizontal-range-limited LiDAR. |
| first_indexed | 2024-10-01T06:53:20Z |
| format | Thesis-Master by Coursework |
| id | ntu-10356/163160 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:53:20Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1631602022-11-28T23:34:30Z Safety-critical trajectory tracking control for quadrotors Li, Xinyi Hu Guoqiang School of Electrical and Electronic Engineering GQHu@ntu.edu.sg Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Safety-critical control is critical in the applications of unmanned aerial vehicles (UAVs). For instance, an aerial robot such as a quadrotor needs to realize fast collision-free flight. However, the navigation strategy may conflict with the safety requirement. In this dissertation, the problem of safety-critical trajectory tracking control for quadrotors is addressed. The proposed cascade controller consists of CLF-CBF-QP based position control, PID based velocity control and attitude control. In quadratic programming (QP), the hard safety constraints are derived from the Control Barrier Function (CBF) and the soft trajectory tracking constraints are formed based on a distance-based Control Lyapunov Function (CLF). The efficacy of the proposed approach is verified via simulations in MATLAB SIMULINK environment. The simulations include circular and square trajectories tracking with given ideal obstacles, and trajectory tracking with horizontal-range-limited LiDAR. Master of Science (Computer Control and Automation) 2022-11-28T23:34:30Z 2022-11-28T23:34:30Z 2022 Thesis-Master by Coursework Li, X. (2022). Safety-critical trajectory tracking control for quadrotors. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/163160 https://hdl.handle.net/10356/163160 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Li, Xinyi Safety-critical trajectory tracking control for quadrotors |
| title | Safety-critical trajectory tracking control for quadrotors |
| title_full | Safety-critical trajectory tracking control for quadrotors |
| title_fullStr | Safety-critical trajectory tracking control for quadrotors |
| title_full_unstemmed | Safety-critical trajectory tracking control for quadrotors |
| title_short | Safety-critical trajectory tracking control for quadrotors |
| title_sort | safety critical trajectory tracking control for quadrotors |
| topic | Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | https://hdl.handle.net/10356/163160 |
| work_keys_str_mv | AT lixinyi safetycriticaltrajectorytrackingcontrolforquadrotors |