Adaptive Control of Aerobatic Quadrotor Maneuvers in the Presence of Propeller-Aerodynamic-Coefficient and Torque-Latency Time-Variations
Adaptive Control of Aerobatic Quadrotor Maneuvers in the Presence of Propeller-Aerodynamic-Coefficient and Torque-Latency Time-Variations
复制标题
存在螺旋桨空气动力系数和扭矩延迟时间变化的特技四旋翼飞行器机动的自适应控制
DOI：
10.1109/icra.2019.8793614
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
N. O. Pérez
中科院分区：
文献类型：
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作者：
Ying Chen;N. O. Pérez
我们提出了一个28克的四旋翼的动力学和控制的研究，在执行特技飞行机动的螺旋桨气动系数和扭矩延迟时间变化的存在。首先，通过动量理论为基础的分析机器人周围的流场在特技飞行过程中，我们开发了一个动态的线性时变（LTV）描述的扭矩作用在传单中，这两个考虑的影响明确出现作为不同的数学术语。然后，一个自适应控制方案，由一个反推控制器和一个修改的递归最小二乘（RLS）估计器，设计来抵消所产生的负面影响的时变动态的扭矩驱动的传单。所提出的方法的适用性和有效性证明通过实时飞行实验中，四旋翼自主执行三种不同类型的特技动作：三重翻转，普加乔夫的眼镜蛇和混合翻转。此外，实验数据的分析令人信服地表明，所提出的控制方案始终提高了性能的飞行器在特技飞行，相比，通过使用高性能的线性时不变（LTI）控制器，不考虑时变扭矩的产生。
We present a study of the dynamics and control of a 28-gram quadrotor during the execution of aerobatic maneuvers in the presence of propeller-aerodynamic-coefficient and torque-latency time-variations. First, through a momentum-theory-based analysis of the flow field surrounding the robot during aerobatic flight, we develop a dynamic linear time-varying (LTV) description of the torque acting on the flyer in which both considered effects explicitly appear as distinct mathematical terms. Then, an adaptive control scheme, composed of a backstepping controller and a modified recursive least-squares (RLS) estimator, is designed to counteract the negative effects produced by the time-varying dynamics of the torque that drives the flyer. The suitability and efficacy of the proposed methods are demonstrated through real-time flight experiments in which the quadrotor autonomously performs three different types of aerobatic maneuvers: triple flips, Pugachev's Cobras and mixed flips. Furthermore, analyses of the experimental data compellingly show that the proposed control scheme consistently improves the performance of the aerial vehicle during aerobatic flight, compared to those achieved by using a high-performance linear time-invariant (LTI) controller that does not account for time-varying torque generation.