为喷气式人形机器人设计多速率模型预测控制，实现稳定飞行与抗扰能力。
Unified Multi-Rate Model Predictive Control for a Jet-Powered Humanoid Robot
- 基于质心动量线性模型，融合喷气推进非线性动力学建模。
- 多速率控制框架支持关节与喷口不同响应频率，提升控制精度。
- 适用于高动态飞行人形机器人，尤其适合复杂飞行任务研究者。
本文提出一种新型模型预测控制（MPC）框架，用于喷气驱动的飞行人形机器人。控制器基于线性化的质心动量模型描述飞行动力学，并引入二阶非线性模型显式建模喷气推进的慢速非线性特性。核心贡献在于提出多速率MPC架构，同时处理机器人关节与喷气发动机的不同执行速率，并将喷气动力学直接嵌入预测模型中。通过在物理引擎Mujoco中对喷气人形机器人iRonCub进行仿真验证，结果表明该系统具备良好的外部扰动恢复能力，可实现稳定、平滑的飞行机动，充分验证了所提方法的有效性。
原文摘要 · Abstract (English)
We propose a novel Model Predictive Control (MPC) framework for a jet-powered flying humanoid robot. The controller is based on a linearised centroidal momentum model to represent the flight dynamics, augmented with a second-order nonlinear model to explicitly account for the slow and nonlinear dynamics of jet propulsion. A key contribution is the introduction of a multi-rate MPC formulation that handles the different actuation rates of the robot's joints and jet engines while embedding the jet dynamics directly into the predictive model. We validated the framework using the jet-powered humanoid robot iRonCub, performing simulations in Mujoco; the simulation results demonstrate the robot's ability to recover from external disturbances and perform stable, non-abrupt flight manoeuvres, validating the effectiveness of the proposed approach.
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