Adaptive fast open-loop maneuvers for quadrocopters

被引：3
|
作者：
Sergei Lupashin
Raffaello D’Andrea
机构：
[1] ETH Zurich,Institute for Dynamic Systems and Control
来源：
Autonomous Robots | 2012年 / 33卷
关键词：
Aerial robotics; Aerobatics; Learning; Policy gradient;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
We present a conceptually and computationally lightweight method for the design and iterative learning of fast maneuvers for quadrocopters. We use first-principles, reduced-order models and we do not require nor make an attempt to follow a specific state trajectory—only the initial and the final states of the vehicle are taken into account. We evaluate the adaptation scheme through experiments on quadrocopters in the ETH Flying Machine Arena that perform multi-flips and other high-performance maneuvers.
引用
收藏
页码：89 / 102
页数：13
相关论文
共 50 条
  • [31] Open-loop molding consistency
    Mod Plast, 9 (133):
  • [32] Open-Loop Control of the Motor
    2018 IEEE INDUSTRY APPLICATIONS SOCIETY ANNUAL MEETING (IAS), 2018,
  • [33] Open-loop stable running
    Mombaur, KD
    Longman, RW
    Bock, HG
    Schlöder, JP
    ROBOTICA, 2005, 23 : 21 - 33
  • [34] OPEN-LOOP NUMERICAL CONTROL
    BATY, GB
    INSTRUMENTS & CONTROL SYSTEMS, 1969, 42 (08): : 89 - &
  • [35] Comparing control algorithms of quadrocopters to implement their atypical maneuvers
    Beniak, Ryszard
    Gudzenko, Oleksandr
    2016 21ST INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR), 2016, : 1104 - 1109
  • [36] Adaptive iterative detection: a performance comparison of closed-loop and open-loop phase synchronization
    Ferrari, G
    Anastasopoulos, A
    Colavolpe, GL
    Raheli, R
    GLOBECOM'02: IEEE GLOBAL TELECOMMUNICATIONS CONFERENCE, VOLS 1-3, CONFERENCE RECORDS: THE WORLD CONVERGES, 2002, : 1368 - 1372
  • [37] CLOSED-LOOP OPEN-LOOP DIGITAL ADAPTIVE-CONTROL STRUCTURE - ADDITIONAL CAPABILITIES
    MIRKIN, LB
    JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL, 1994, 32 (02) : 26 - 32
  • [38] Deformable mirror model for open-loop adaptive optics using multivariate adaptive regression splines
    Guzman, Dani
    de Cos Juez, Francisco Javier
    Sanchez Lasheras, Fernando
    Myers, Richard
    Young, Laura
    OPTICS EXPRESS, 2010, 18 (07): : 6492 - 6505
  • [39] Efficient Fast Open-Loop Attitude Control Strategy for Earth Imaging Nanospacecraft
    Grossi, Armando
    Piergentili, Fabrizio
    Santoni, Fabio
    JOURNAL OF AEROSPACE ENGINEERING, 2017, 30 (05)
  • [40] Open-loop phase shifting for fast acquisition of interferograms in low light levels
    McCracken, Tyler M.
    Jurgenson, Colby A.
    Haniff, Chris A.
    Buscher, David F.
    Young, John S.
    Creech-Eakman, Michelle
    APPLIED OPTICS, 2013, 52 (20) : 4922 - 4932
12345