Differential flatness based control of a rotorcraft for aggressive maneuvers
Differential flatness based control of a rotorcraft for aggressive maneuvers
复制标题
基于差动平坦度的旋翼飞机控制，用于激进的机动
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
T. McLain
中科院分区：
文献类型：
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作者：
Jeff Ferrin;R. Leishman;R. Beard;T. McLain
提出了一种新的多旋翼飞行器控制方法。我们表明，系统动力学是差分平坦的。我们利用系统的微分平坦度来提供前馈输入。推导出的系统模型允许偏航的任意变化，并且不限于小的滚转角和俯仰角。我们在硬件中演示了跟踪时变航向命令时遵循高度可扩展路径的能力。
We propose a new method to control a multi-rotor aerial vehicle. We show that the system dynamics are differentially flat. We utilize the differential flatness of the system to provide a feed forward input. The system model derived allows for arbitrary changes in yaw and is not limited to small roll and pitch angles. We demonstrate in hardware the ability to follow a highly maneuverable path while tracking a time-varying heading command.