通过统一姿态控制与推力矢量实现多旋翼故障快速恢复
NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
- 用非线性模型预测控制统一处理姿态调整与推力方向调节
- 在高保真仿真中实现M4机器人单电机失效后的稳定恢复
- 适合研究无人机容错控制与飞行安全的工程师和学者
多旋翼飞行器在高空发生执行器故障时极易坠毁，因此需要快速故障恢复以保障无人飞行器的安全运行。本文提出一种将姿态操纵与推力矢量统一的故障恢复方法。主要贡献包括：1）推导了两种飞行动力学模型（高保真与降阶），能够同时描述姿态控制与推力矢量特性；2）基于非线性模型预测控制（NMPC）设计控制器，并在Simscape中使用多模态移动变形机器人（M4）的高保真模型完成了仿真验证，展示了在单电机失效情况下的有效故障恢复能力。
原文摘要 · Abstract (English)
Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event of an actuator failure is necessary for the fault-tolerant and safe operation of unmanned aerial robots. In this work, we present a fault recovery approach based on the unification of posture manipulation and thrust vectoring. The key contributions of this work are: 1) Derivation of two flight dynamics models (high-fidelity and reduced-order) that capture posture control and thrust vectoring. 2) Design of a controller based on Nonlinear Model Predictive Control (NMPC) and demonstration of fault recovery in simulation using a high-fidelity model of the Multi-Modal Mobility Morphobot (M4) in Simscape.
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