In-flight range optimization of multicopters using multivariable ES control with adaptive step size
Автор: HiPeR Lab
Загружено: 2021-04-30
Просмотров: 714
In-flight range optimization of multicopters using multivariable extremum seeking with adaptive step size (paper link: https://arxiv.org/abs/2003.02907) -- High Performance Robotics Laboratory (HiPeRLab), UC Berkeley - hiperlab.berkeley.edu
We present a novel adaptive step size multivariable extremum seeking control approach, which provides for faster convergence. We apply it to the optimization of the flight range of a multicopter by searching over two in-flight degrees of freedom – the speed and sideslip (heading) with which the vehicle follows a path.
Researchers: Xiangyu Wu and Mark W. Mueller
Video: Xiangyu Wu
Acknowledgements: DARPA Subterranean Challenge
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