标题： 具有形式化稳定性保证的四旋翼飞行器高性能模型预测控制 显示英文标题

标题： High-Performance Model Predictive Control for Quadcopters with Formal Stability Guarantees

摘要： 本文提出了一种新颖的级联控制结构，该结构针对四旋翼飞行器的状态跟踪误差动力学提供了形式化的均匀几乎全局渐近稳定性保证。 所提出的策略在外环采用了一种模型预测控制策略，明确考虑了总推力非零约束。 外环控制器生成加速度参考值，然后将其转换为姿态、角速度和加速度参考值，由非线性内环控制器随后跟踪。 所提出的级联控制策略通过数值案例研究和高保真模型进行了验证，证明了其能够以小误差跟踪快速轨迹的能力。 显示英文摘要

摘要： In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive control strategy for the outer loop, explicitly accounting for the non-zero total thrust constraint. The outer-loop controller generates an acceleration reference, which is then converted into attitude, angular velocity and acceleration references, subsequently tracked by a nonlinear inner-loop controller. The proposed cascade control strategy is validated through numerical case studies, underlying high-fidelity models, demonstrating its ability to track fast trajectories with small error.