DYNAMIC MODELLING AND CONFIGURATION STABILIZATION FOR AN X4-FLYER.

DYNAMIC MODELLING AND CONFIGURATION STABILIZATION FOR AN X4-FLYER.
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DOI：
10.3182/20020721-6-es-1901.00848
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发表时间：
2002
期刊：
IFAC Proceedings Volumes
影响因子：
--
通讯作者：
T. Hamel;R. Mahony;R. Lozano;J. Ostrowski
T. Hamel;R. Mahony;R. Lozano;J. Ostrowski
中科院分区：
其他
文献类型：
--
作者：
T. Hamel;R. Mahony;R. Lozano;J. Ostrowski

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摘要提出了一种四旋翼垂直起降(VTOL)飞行器的动力学模型，称为X4飞行器。该模型考虑了机身和发动机的动力学，以及准静态飞行条件下旋翼的气动和陀螺效应。提出了一种新的准静态飞行状态构型镇定控制策略。所采取的方法是将刚体(机体)动力学从发动机动力学中分离出来，为耦合系统建立单独的控制Lyapunov函数，然后对相互作用引起的摄动误差进行约束，以获得整个系统的强实用稳定性。
Abstract A model for the dynamics of a four rotor vertical take-off and landing (VTOL) vehicle known as an X4-flyer is proposed. The model incorporates the airframe and motor dynamics as well as aerodynamic and gyroscopic effects due to the rotors for quasi-stationary flight conditions. A novel control strategy is proposed for configuration stabilization of quasi-stationary flight conditions. The approach taken involves separating the rigid body (airframe) dynamics from the motor dynamics, developing separate control Lyapunov functions for the coupled systems and then bounding the perturbation error due to the interaction to obtain strong practical stability of the complete system.