A command-filtered backstepping approach to autonomous inspections using a quadrotor
A command-filtered backstepping approach to autonomous inspections using a quadrotor
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DOI：
10.1109/med.2016.7535860
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发表时间：
2016-06
期刊：
影响因子：
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通讯作者：
E. Oland
中科院分区：
文献类型：
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作者：
E. Oland
本文将指令滤波反推方法应用于欠驱动四旋翼飞行器的位置控制。首先对系统动力学微分，直到系统的转动和平移动力学耦合，然后应用指令滤波反步控制方法对具有约束驱动的欠驱动刚体进行控制。推力、滚转和俯仰力矩用于位置控制，并通过反推设计，而偏航力矩可用于另一控制目标。因此，偏航扭矩使用PD+控制器进行目标跟踪设计，使四旋翼能够利用假定固定到机身框架的x轴的传感器跟踪任何点（静止或移动）。本文应用这些结果来执行自主检查的风力涡轮机使用的路点和所需的轨迹的组合，以覆盖整个结构，同时将传感器指向风力涡轮机。
This paper applies command-filtered backstepping for position control of an underactuated quadrotor. First the dynamics are differentiated until the rotational and translational dynamics become coupled, then the paper applies command filtered backstepping to control the underactuated rigid body with constrained actuation. The thrust, roll and pitch torques are used for position control and designed through the backstepping, while the yaw torque is a available for another control objective. The yaw torque is therefore designed using a PD+ controller for target tracking, enabling the quadrotor to track any point (stationary or moving) with a sensor that is assumed to be fixed to the x-axis of the body frame. The paper applies these results to perform autonomous inspections of a wind turbine using a combination of waypoints and a desired trajectory to cover the whole structure while pointing the sensor towards the wind turbine.