Port-based modeling and control of underactuated aerial vehicles
Port-based modeling and control of underactuated aerial vehicles
复制标题
欠驱动飞行器的基于端口的建模和控制
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
S. Stramigioli
中科院分区：
文献类型：
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作者：
A. Mersha;R. Carloni;S. Stramigioli
本文针对一类欠驱动飞行器，即以推力为主要支承的无人机，提出了一种通用模型和控制器设计方法。所采用的方法是基于能量考虑，并使用端口-哈密顿系统和键合图的形式。该控制器设计用于悬停时的稳定和轨迹跟踪任务。仿真结果验证了模型的正确性和控制器的性能。
In this paper, we propose a generic model and a controller design for a class of underactuated aerial vehicles, namely for unmanned aerial vehicles whose primary support against gravity is thrust. The approach followed is based on energetic consideration and uses the formalisms of port-Hamiltonian systems and bond graphs. The controller is designed for both stabilization during hovering and for trajectory tracking tasks. The competency of the model and the performance of the controller are validated in simulation.