封闭循环非线性最佳控制设计,用于在室内封闭空间的飞行机器人 (1.6米的翼展):原型,建模,模拟和实验
Saeed Rafee Nekoo1, Anibal Ollero2
1The GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Seville, 41092, Spain.
ISA transactions
|August 13, 2023
概括
这项研究引入了一种新的闭环控制机器人飞行机器人 (FWFR),在模拟和实验中成功实现自主飞行控制. 非线性最佳控制设计增强了机器人的稳定性和机动性.
科学领域:
- 机器人技术和自主系统
- 航空航天工程 航空航天工程
- 控制理论 控制理论
背景情况:
- 飞翼技术正在为各种应用而在无人机上飞行机器人领域取得进展.
- 目前的研究缺乏自主飞翼机器人 (FWFR) 闭环控制策略.
- 复杂的FWFR动态需要简化但准确的模型来实现先进的控制.
研究的目的:
- 设计和实施一个非线性最佳闭环控制系统,用于翼飞行机器人 (FWFR).
- 开发适合非线性控制的FWFR的简化动态模型.
- 通过模拟和实验验证,研究动运动对FWFR行为的影响.
主要方法:
- 使用依赖状态的里卡蒂方程 (SDRE) 开发了一种非线性最佳闭环控制设计.
- 一种替代的动态建模方法为翻译提供了同等的动态,并为导向提供了一个简化的模型.
- SDRE控制器应用于衍生模型,并通过模拟和实验在1.6米的翼展机器人鸟上进行验证.
主要成果:
- 拟议的SDRE控制器成功地控制了低调的六度自由度的飞机器人,无论是位置还是方向.
- 模拟表明了简化动态模型和控制策略的有效性.
- 实验结果证实了在室内测试台使用移动捕捉系统的成功自主飞行控制.
结论:
- 该研究成功地证明了FWFRs的非线性最佳闭环控制策略.
- 开发的简化动态模型和SDRE控制器可实现稳定和精确的自动飞行.
- 这项研究推动了飞翼机器人领域的发展,为更复杂的自主空中系统铺平了道路.
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