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Control of Micro Aerial Vehicles under Aerodynamic and Physical Contact Interactions

气动和物理接触相互作用下微型飞行器的控制

基本信息

批准号：
1728277
负责人：
Roberto Tron
金额：
$ 35.01万
依托单位：
Trustees of Boston University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2017
资助国家：
美国
起止时间：
2017-09-01 至 2022-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1728277&HistoricalAwards=false
关键词：
Control Micro Aerial Vehicles under

项目摘要

The goal of this project is to make quadrotors and other similar small-scale flying rotorcraft safer and easier to fly. Both recreational and commercial use of these vehicles has recently surged in popularity. However, safety concerns about potentially damaging collisions limit their deployment near people or in close formation, and the current state of the art in vehicle control is insufficient for potential applications involving flight inside of complicated structures such as industrial plants, forests and caves. Specifically, this project will lead to the following innovations: better understanding of the aerodynamic interactions between the environment and the flying vehicle through novel models; creation of a "smart cage" that encloses the vehicle and acts as both a shock-absorber and as a novel type of "touch" sensor; and the derivation of new control strategies to take advantage of the new features to improve performances and ease of maneuvering. Together, these innovations will make small-scale vehicles less likely to cause unintended damage, suitable for use in extreme environments such as caves, and more easily piloted. This will allow in turn the use of these vehicles in new industrial monitoring and search-and-rescue applications, thus bringing the benefits of these platforms to larger segments of society. The technical goals of this project will build on new models of quadrotor aerodynamic, constructed through a combination of simulation and experimental evaluation. These models predict forces and torques due to the aerodynamic interactions of each rotor with the other rotors, as well as with nearby surfaces, such as ground, walls, and ceilings. A "smart cage" surrounds the vehicle, composed of a rigid outer shell to prevent the quadrotor from contacting objects in the environment, and a base, which is rigidly attached to the quadrotor. The cage and the base connect together through a system of springs that are used to absorb impacts. The base includes sensors to measure the relative displacement of the outer shell, thus allowing a partial reconstruction of any impact dynamics. New control strategies are formulated, based on a novel application of contraction theory to Riemannian manifolds. These strategies produce geometric controllers that do not suffer from singularities, that have global exponential convergence guarantees, and that can be automatically tuned to obtain optimal performance. The results will be validated in both simulations and experiments.

该项目的目标是使四旋翼和其他类似的小型飞行旋翼机更安全，更容易飞行。这些车辆的娱乐和商业用途最近都很受欢迎。然而，对潜在的破坏性碰撞的安全考虑限制了它们在人附近或在紧密编队中的部署，并且飞行器控制的当前技术水平不足以用于涉及在复杂结构（诸如工业厂房、森林和洞穴）内飞行的潜在应用。具体而言，该项目将导致以下创新：通过新的模型更好地理解环境与飞行器之间的空气动力学相互作用;创建一个“智能笼”，将飞行器包围起来，既作为减震器又作为新型“触摸”传感器;以及新的控制策略的推导，以利用新的特征来改善性能和易于操纵。总之，这些创新将使小型车辆不太可能造成意外损坏，适合在洞穴等极端环境中使用，并且更容易驾驶。这将反过来使这些车辆能够用于新的工业监测和搜索和救援应用，从而使这些平台的好处惠及社会的更大部分。该项目的技术目标将建立在新的四旋翼空气动力学模型的基础上，通过模拟和实验评估相结合来构建。这些模型预测由于每个转子与其他转子以及与附近表面（例如地面、墙壁和天花板）的空气动力相互作用而产生的力和扭矩。一个“智能笼”围绕着飞行器，由一个刚性外壳和一个基座组成，外壳防止四旋翼接触环境中的物体，基座刚性连接到四旋翼上。笼子和底座通过弹簧系统连接在一起，弹簧系统用于吸收冲击力。该基座包括传感器以测量外壳的相对位移，从而允许任何冲击动力学的部分重建。新的控制策略的制定，基于一个新的应用程序的收缩理论黎曼流形。这些策略产生的几何控制器，不遭受奇点，具有全局指数收敛保证，并可以自动调整，以获得最佳性能。结果将在模拟和实验中得到验证。