Synergetic approach to quadrotor helicopter control with attractor-repeller strategy of nondeterministic obstacles avoidance

摘要

In this paper we show the new approach to four-motors unmanned air vehicle control at the environment with rigid obstacles of various shapes. This approach is based on principles and methods of synergetic control theory. We explore analysis of mathematical model of four-motors unmanned air vehicle accounting of external disturbance action and synthesis of nonlinear synergetic control law for this robot by using method of analytical design of aggregated regulators. For mobile robot adaptation to external environment, we have developed “attractor-repeller” strategy of nondeterministic obstacles avoidance. The essence of this strategy is that desired ensemble of unmanned air vehicle end states presented as attracting manifolds, i.e. attractors, and obstacles at quadcopter pass presented as three-dimensional repeller (drive back) surface deforming the phase space of mobile robot therefore forming an avoidance trajectory. A bypass direction is formed according to condition of minimal motion resistance in the fully nondeterministic environment or according condition of shorter bypass way at obstacle known parameters. This approach is also could be applied to dynamically changeable obstacles but we might have information about obstacle speed in that case.