Inverse stochastic quadcopter trajectory generation using flat inverse dynamics and polynomial chaos uncertainty propagation

We propose a series of methods to generate inverse stochastic trajectories given parametric model uncertainties. The methods are applied for the generation of robust quad-copter trajectories. Our aim is to generate unique reference trajectories such that the corresponding uncertain control policies are less sensitive to parameter variations. Such robust trajectories exhibit interesting properties w.r.t. to tracking. The proposed methods can be applied on any system represented by nonlinear dynamics given that an inverse dynamic model is available, be it in a flat interpretation as is the case for quad-copters. Results show a decrease of 78% of parameter induced policy uncertainty when compared with nominal trajectories.

ISBN:9781728105215

Publication year:2019

Accessibility:Closed