This paper tackles the constrained control problem of unmanned aerial vehicles with planar multirotors. The proposed solution splits the constrained control problem into two separate tasks, i.e. stabilization and constraint enforcement. It is shown that the problems addressed by each individual layer is much simpler than the original combined problem. For the unconstrained control of UAVs we consider a control scheme based on a cascade structure. The Lyapunov function for the stabilized cascaded system is then derived. Using this Lyapunov function, we develop an Explicit Reference Governor for constraint enforcement. Numerical simulation shows the effectiveness of the proposed approach.

中文翻译：

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基于显式参考调速器的无人机约束控制框架


本文解决了平面多旋翼无人机的约束控制问题。所提出的解决方案将约束控制问题分为两个独立的任务，即稳定和约束执行。结果表明，每个单独层解决的问题比原始组合问题简单得多。对于无人机的无约束控制，我们考虑基于级联结构的控制方案。然后导出稳定级联系统的李亚普诺夫函数。使用此 Lyapunov 函数，我们开发了一个用于约束执行的显式参考调控器。数值模拟显示了所提出方法的有效性。