Glocal Motion Control for Multi-rotor Flying Vehicles

经过一年的研究，我们的主要成果可以概括如下。从理论的角度，我们表明，多转子应建模和设计为多智能体系统的全局和局部控制目标。为了保证四旋翼高度控制系统的绝对稳定性，提出了一种扇区限制非线性控制方法。为了减少角速率稳定的四旋翼着陆速度控制系统的设计负担，提出了一种广义频率法。从实验的角度出发，建立了双螺旋桨作动器的双旋翼实验台。该实验台将在下一个财政年度用于进行实验，并教授学生运动控制问题。

After one year of conducting research, our main achievements can be summarized as follows. From the theoretical point of view, we showed that the multi-rotor should be modelled and designed as multi-agent systems with both global and local control objectives. A sector-bound nonlinearity approach has been proposed to guarantee the absolute stability of the quadrotor's altitude control system. A generalized frequency approach has been applied to reduce the design burden of the quadrotor's landing speed control system with angular rate stabilization. From the experimental point of view, we have established the dual-rotor test-bench with two propeller actuators. The test-bench will be used to conduct experiment in the next fiscal year, and to teach the students on the motion control issues.