论文标题
攻击性尾部飞行的轨迹生成和跟踪控制
Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights
论文作者
论文摘要
我们解决了与尾巴无人机的轨迹产生和跟踪控制有关的理论和实用问题。从理论上讲，我们将重点放在差异平坦的属性上，并完全利用实际无人机空气动力学模型，这为生成动态可行的轨迹和实现高性能跟踪控制奠定了基础。我们发现，通过指定坐标飞行条件并选择车辆位置作为平坦输出，尾部尾部的尾声在整个飞行信封内具有准确的空气动力学模型。这种基本属性使我们能够在轨迹计划和跟踪控制中充分利用高保真空气动力学模型，以实现准确的尾式飞行。尤其是，提出了针对尾部式尾矿的优化轨迹规划师，以设计高质量，平滑的轨迹，并考虑了动力学约束，无奇异性约束和执行器饱和度。通过考虑环境中的风，计划的平面输出轨迹实时转化为状态轨迹。为了跟踪状态轨迹，开发了一种全球，无奇异性和最小化的盛大MPC，它完全利用了准确的空气动力学模型，以实现整个飞行封装中的高智能轨迹跟踪。 The effectiveness of the proposed framework is demonstrated through extensive real-world experiments in both indoor and outdoor field tests, including agile SE(3) flight through consecutive narrow windows requiring specific attitude and with speed up to 10m/s, typical tail-sitter maneuvers (transition, level flight and loiter) with speed up to 20m/s, and extremely aggressive aerobatic maneuvers (Wingover, Loop, Vertical Eight and Cuban Eight) with加速高达2.5克。
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic models, which lays a foundation for generating dynamically feasible trajectory and achieving high-performance tracking control. We have found that a tail-sitter is differentially flat with accurate aerodynamic models within the entire flight envelope, by specifying coordinate flight condition and choosing the vehicle position as the flat output. This fundamental property allows us to fully exploit the high-fidelity aerodynamic models in the trajectory planning and tracking control to achieve accurate tail-sitter flights. Particularly, an optimization-based trajectory planner for tail-sitters is proposed to design high-quality, smooth trajectories with consideration of kinodynamic constraints, singularity-free constraints and actuator saturation. The planned trajectory of flat output is transformed to state trajectory in real-time with consideration of wind in environments. To track the state trajectory, a global, singularity-free, and minimally-parameterized on-manifold MPC is developed, which fully leverages the accurate aerodynamic model to achieve high-accuracy trajectory tracking within the whole flight envelope. The effectiveness of the proposed framework is demonstrated through extensive real-world experiments in both indoor and outdoor field tests, including agile SE(3) flight through consecutive narrow windows requiring specific attitude and with speed up to 10m/s, typical tail-sitter maneuvers (transition, level flight and loiter) with speed up to 20m/s, and extremely aggressive aerobatic maneuvers (Wingover, Loop, Vertical Eight and Cuban Eight) with acceleration up to 2.5g.
