Vector field following for quadrotors using differential flatness
Vector field following for quadrotors using differential flatness
复制标题
使用微分平坦度的四旋翼飞行器矢量场跟踪
DOI：
10.1109/icra.2014.6907828
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
M. Schwager
中科院分区：
文献类型：
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作者：
Dingjiang Zhou;M. Schwager
本文提出了一种基于微分平坦度的方法来操纵四旋翼，使其位置遵循指定的速度矢量场。现有的规划和控制算法通常给出一个2D或3D的速度矢量场，由机器人遵循。然而，四旋翼具有复杂的非线性动力学，使得矢量场跟踪困难，特别是在激进的机动制度。本文利用四旋翼动力学的微分平坦性来控制其沿给定矢量场的位置沿着。差分平坦度允许控制输入的分析推导，以便控制四旋翼的12D动态状态，使得四旋翼的2D或3D位置遵循由给定矢量场指定的流。该方法是数学推导，并证明在数值模拟和实验中与四旋翼机器人为三个不同的矢量场。
This paper proposes a differential flatness-based method for maneuvering a quadrotor so that its position follows a specified velocity vector field. Existing planning and control algorithms often give a 2D or 3D velocity vector field to be followed by a robot. However, quadrotors have complex nonlinear dynamics that make vector field following difficult, especially in aggressive maneuvering regimes. This paper exploits the differential flatness property of a quadrotor's dynamics to control its position along a given vector field. Differential flatness allows for the analytical derivation of control inputs in order to control the 12D dynamical state of the quadrotor such that the 2D or 3D position of the quadrotor follows the flow specified by a given vector field. The method is derived mathematically, and demonstrated in numerical simulations and in experiments with a quadrotor robot for three different vector fields.