LiDAR-based Control of Autonomous Rotorcraft for the Inspection of Pier-like Structures: Proofs
This addresses control challenges for autonomous rotorcraft inspecting pier-like structures, but appears incremental as it focuses on detailed proofs for prior work.
The paper tackles trajectory tracking control for autonomous rotorcraft using only LiDAR-based relative position measurements, by developing an alternative kinematic model and solving an H₂ control problem with gain-scheduling, though no specific performance numbers are provided.
This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only relative position measurements obtained from LiDAR sensors are possible. The proposed approach defines an alternative kinematic model, directly based on LiDAR measurements, and uses a trajectory-dependent error space to express the dynamic model of the vehicle. An LPV representation with piecewise affine dependence on the parameters is adopted to describe the error dynamics over a set of predefined operating regions, and a continuous-time $H_2$ control problem is solved using LMIs and implemented within the scope of gain-scheduling control theory.