用非线性预测控制实现变形无人机敏捷飞行与故障容错
NMPC-based Unified Posture Manipulation and Thrust Vectoring for Agile and Fault-Tolerant Flight of a Morphing Aerial Robot
- 通过非线性模型预测控制统一规划姿态调整与推力矢量
- 可精准跟踪剧烈机动轨迹，且在执行器故障下仍保持稳定飞行
- 适合需要高机动性和鲁棒性的空中机器人研究者
本文提出一种统一控制框架，用于多模态移动变形机器人（M4）在空中模式下的敏捷与故障容错飞行。该机器人具备地面与空中运动的切换能力，其可动腿结构使其动态机动能力优于常规四旋翼平台。采用非线性模型预测控制（NMPC）方法，同步规划姿态调节与推力矢量动作，使机器人能够执行急转弯和复杂飞行轨迹。框架集成敏捷且容错的控制逻辑，在剧烈机动下仍能精确跟踪轨迹，并在执行器失效时实现自适应补偿，确保飞行性能不显著下降。仿真结果验证了该方法的有效性，展示了精准轨迹跟踪与故障恢复能力，为复杂环境中的自主飞行提供了韧性保障。
原文摘要 · Abstract (English)
This thesis presents a unified control framework for agile and fault-tolerant flight of the Multi-Modal Mobility Morphobot (M4) in aerial mode. The M4 robot is capable of transitioning between ground and aerial locomotion. The articulated legs enable more dynamic maneuvers than a standard quadrotor platform. A nonlinear model predictive control (NMPC) approach is developed to simultaneously plan posture manipulation and thrust vectoring actions, allowing the robot to execute sharp turns and dynamic flight trajectories. The framework integrates an agile and fault-tolerant control logic that enables precise tracking under aggressive maneuvers while compensating for actuator failures, ensuring continued operation without significant performance degradation. Simulation results validate the effectiveness of the proposed method, demonstrating accurate trajectory tracking and robust recovery from faults, contributing to resilient autonomous flight in complex environments.
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