A controllable flying vehicle with a single moving part
A controllable flying vehicle with a single moving part
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具有单个运动部件的可控飞行器
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
R. D’Andrea
中科院分区：
文献类型：
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作者：
Weixuan Zhang;Mark W. Müller;R. D’Andrea
本文介绍了“单旋飞行器”：一种机械结构简单、只有一个运动部件的飞行器。在三个平移自由度和两个转动自由度下，该飞行器是可控的。该飞行器只有一个标量控制输入，即推力大小，采用具有内姿态控制器和外位置控制器的串级控制策略进行控制。飞行器设计的选择基于两个稳健性指标：在扰动下保持悬停的能力和基于随机模型的输入饱和概率。由此产生的机械和控制设计得到了实验演示，其中还表明，飞行器足够坚固，可以在被抛入空中后实现悬停。
This paper presents the “monospinner”: a mechanically simple flying vehicle with only one moving part. The vehicle is shown to be controllable in three translational degrees of freedom and two rotational degrees of freedom. The vehicle has a single scalar control input, the thrust magnitude, and is controlled by a cascaded control strategy with an inner attitude controller and an outer position controller. The vehicle design is chosen based on two robustness metrics: the ability to maintain hover under perturbations and the probability of input saturation based on a stochastic model. The resulting mechanical and control designs are experimentally demonstrated, where it is also shown that the vehicle is sufficiently robust to achieve hover after being thrown into the air.