通过切换控制策略，让无人机在高速转向时节能53%且保持稳定。
Closed-Loop Stability of a Lyapunov-Based Switching Attitude Controller for Energy-Efficient Torque-Input-Selection During Flight
- 基于李雅普诺夫函数设计切换机制，动态选择最优扭矩输入。
- 实验显示控制能耗平均降低53%，且所有初始状态均在稳定域内。
- 适合高精度、低功耗飞行控制场景，如微型无人机任务执行。
本文提出一种基于李雅普诺夫的切换姿态控制器，用于无人机（UAV）飞行中实时高效选择扭矩输入。该方法采用四元数描述飞行器姿态，通过复合能量函数触发切换事件，实现闭环（CL）切换动力学中两个平衡点的稳定性互换——一个局部渐近稳定，另一个不稳定。为分析并保证稳定性，结合经典非线性李雅普诺夫理论与切换系统理论，引入一种新型复合李雅普诺夫函数（LF），不仅推导出闭环渐近与指数稳定的条件，还显著扩大了系统的吸引域估计范围，优于此前同类系统。为验证方法性能，实验使用一架31克四旋翼无人机完成高速偏航跟踪机动。结果表明，所有初始状态均位于估计吸引域内，且相比常用基准控制方案，该切换控制器在执行特定高速偏航任务时，平均控制能耗降低约53%。
原文摘要 · Abstract (English)
We present a new Lyapunov-based switching attitude controller for energy-efficient real-time selection of the torque inputted to an uncrewed aerial vehicle (UAV) during flight. The proposed method, using quaternions to describe the attitude of the controlled UAV, interchanges the stability properties of the two fixed points-one locally asymptotically stable and another unstable-of the resulting closed-loop (CL) switching dynamics of the system. In this approach, the switching events are triggered by the value of a compound energy-based function. To analyze and ensure the stability of the CL switching dynamics, we use classical nonlinear Lyapunov techniques, in combination with switching-systems theory. For this purpose, we introduce a new compound Lyapunov function (LF) that not only enables us to derive the conditions for CL asymptotic and exponential stability, but also provides us with an estimate of the CL system's region of attraction. This new estimate is considerably larger than those previously reported for systems of the type considered in this paper. To test and demonstrate the functionality, suitability, and performance of the proposed method, we present and discuss experimental data obtained using a 31-g quadrotor during the execution of high-speed yaw-tracking maneuvers. Also, we provide empirical evidence indicating that all the initial conditions chosen for these maneuvers, as estimated, lie inside the system's region of attraction. Last, experimental data obtained through these flight tests show that the proposed switching controller reduces the control effort by about 53%, on average, with respect to that corresponding to a commonly used benchmark control scheme, when executing a particular type of high-speed yaw-tracking maneuvers.
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