Glocal Motion Control for Multi-rotor Flying Vehicles

经过一年的研究，我们的主要成果概括如下。从理论上证明了多转子系统应该被建模和设计为同时具有全局和局部控制目标的多智能体系统。为保证四旋翼高度控制系统的绝对稳定性，提出了一种扇区约束的非线性控制方法。将广义频率法应用于角速度稳定的四旋翼着陆速度控制系统的设计。从实验的角度出发，搭建了双桨舵机双旋翼试验台。该实验台将在下一财政年度进行实验，并向学生传授运动控制问题。

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.