Hybrid modeling and control of a coaxial unmanned rotorcraft interacting with its environment through contact
Hybrid modeling and control of a coaxial unmanned rotorcraft interacting with its environment through contact
复制标题
通过接触与环境相互作用的同轴无人旋翼机的混合建模和控制
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
R. Siegwart
中科院分区：
文献类型：
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作者：
K. Alexis;Christoph Hürzeler;R. Siegwart
本文研究的是一种新型的能够与环境进行物理交互的共轴旋翼无人直升机。其设计经过优化，以通过接触（例如对接和在墙上滑动）提供强大的环境交互手段。由于从自由飞行的直升机的动态变化迅速的直升机受到接触期间的力和力矩的混合系统建模方法。系统动态的全局模型是设计混合模型预测控制器的基础，该控制器保证混合系统的稳定性，并提供在墙壁上受控对接以及在墙壁上滑动的能力。通过实验研究说明了平台的能力和控制律的效率。
A new type of coaxial-rotor unmanned helicopter capable of physically interacting with its environment is the subject of this paper. Its design is optimized in order to provide the means of robust environmental interaction through contact (e.g. docking and sliding on walls). Due to the rapid change of the dynamics from the free-flying helicopter to the helicopter subject to the forces and moments during contact a hybrid systems modeling approach is followed. This global model of the system's dynamics is the basis for the design of a hybrid model predictive controller that guarantees the stability of the hybrid system and provides the capability of controlled docking on walls as well as sliding on them. The capabilities of the platform and the efficiency of the control law are illustrated through experimental studies.