通过动态切换最优姿态误差四元数，显著降低无人机飞行时的控制能耗。
A Lyapunov-Based Switching Scheme for Selecting the Stable Closed-Loop Fixed Attitude-Error Quaternion During Flight
- 基于李雅普诺夫函数选择最小能量的稳定姿态解
- 实验表明控制力降低49.75%，旋转功耗减少28.14%
- 适合高精度、低能耗无人机飞控系统
本文提出一种切换策略，结合姿态误差四元数（AEQ）与角速度误差，用于控制无人飞行器（UAV）的旋转自由度。该控制器持续选择对应于两个基于能量的李雅普诺夫函数计算所得最小代价的稳定闭环（CL）平衡姿态误差四元数。为分析和保证闭环切换动态的稳定性，采用基础非线性理论。此研究问题至关重要，因为稳定闭环平衡姿态误差四元数的选择直接决定了飞行中无人机的功率与能量需求。为验证所提方法的实现性、适用性、功能性和性能，本文使用一架31克四旋翼无人机进行了高速航向机动飞行测试。实验结果表明，相较于常用基准控制器，所提切换控制器平均可分别降低49.75%的控制努力与28.14%的旋转功率。
原文摘要 · Abstract (English)
We present a switching scheme, which uses both the attitude-error quaternion (AEQ) and the angular-velocity error, for controlling the rotational degrees of freedom of an uncrewed aerial vehicle (UAV) during flight. In this approach, the proposed controller continually selects the stable closed-loop (CL) equilibrium AEQ corresponding to the smallest cost between those computed with two energy-based Lyapunov functions. To analyze and enforce the stability of the CL switching dynamics, we use basic nonlinear theory. This research problem is relevant because the selection of the stable CL equilibrium AEQ directly determines the power and energy requirements of the controlled UAV during flight. To test and demonstrate the implementation, suitability, functionality, and performance of the proposed approach, we present experimental results obtained using a 31-gram quadrotor, which was controlled to execute high-speed yaw maneuvers in flight. These flight tests show that the proposed switching controller can respectively reduce the control effort and rotational power by as much as 49.75 % and 28.14 %, on average, compared to those corresponding to an often-used benchmark controller.
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