Convergence-Guaranteed Trajectory Optimization for Quadrotors Subject to Aerodynamic Drag

Considering aerodynamic drag in the trajectory optimization of quadrotors is critical for improving the trajectory tracking performance, though it brings more nonlinearity to the dynamics. This article addresses how to reliably and efficiently solve the problem with free final time by convex optimiz...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IEEE transactions on aerospace and electronic systems Jg. 60; H. 5; S. 7251 - 7261
Hauptverfasser: Kuang, Hailiang, Liu, Xinfu
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.10.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Aerodynamic drag
Aerodynamics
Constraints
Convergence
Convex functions
Convexity
Heuristic algorithms
Iterative algorithms
Iterative methods
Nonlinear dynamics
Nonlinearity
Optimal control
Optimization
optimization methods
planning
Quadrotors
Rotary wing aircraft
Tracking
Trajectory optimization
ISSN:0018-9251, 1557-9603
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:Considering aerodynamic drag in the trajectory optimization of quadrotors is critical for improving the trajectory tracking performance, though it brings more nonlinearity to the dynamics. This article addresses how to reliably and efficiently solve the problem with free final time by convex optimization. Change of variables is first applied to move certain nonlinearity in the dynamics into path constraints, which are then convexified based on linearization. Next, we propose to introduce a nonlinear equality constraint to continue removing the nonlinearity related to the drag in the dynamics. The introduced constraint is then convexified based on a technique of replacing an unknown optimization variable with a known parameter, which is updated iteratively to approach the real value of the variable. This convexification technique plays a significant role in enabling us to theoretically establish the convergence of our designed iterative algorithm. Numerical examples will be provided to show the effectiveness and efficiency of the algorithm and the improvement of the trajectory tracking performance.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2024.3414958