通过差动推力生成侧滑力，实现尾坐式无人机无滚转耦合的航向侧向控制。
YawSitter: Modeling and Controlling a Tail-Sitter UAV with Enhanced Yaw Control
- 利用差动螺旋桨气流对机身作用生成侧向力，增强航向控制能力。
- 悬停时轨迹跟踪误差低，航向偏差控制在5.688度内，性能稳定。
- 适合需要高机动悬停能力的尾坐式无人机系统设计与开发。
尾坐式无人机在悬停状态下的精确横向运动建模与解耦控制仍面临挑战，主要源于复杂的气动耦合及缺乏明确的横向动力学。本文提出一种新型建模与控制策略，通过差动推力产生的螺旋桨尾流对机身的作用，引入侧滑力模型，从而在机体y轴方向产生横向力，实现基于航向的横向位置控制，且不引发滚转耦合。控制框架采用YXZ欧拉角表示法，准确描述姿态并融入重力分量，直接在y轴上控制航向，提升横向动态特性并避免奇点问题。在基于Unity的仿真环境中进行了轨迹跟踪测试，涵盖矩形与圆形路径，结果表明系统表现稳定，平均绝对位置误差小，航向偏差始终低于5.688度。实验验证了所提横向力生成模型的有效性，为敏捷型悬停尾坐式无人机的发展提供了基础。
原文摘要 · Abstract (English)
Achieving precise lateral motion modeling and decoupled control in hover remains a significant challenge for tail-sitter Unmanned Aerial Vehicles (UAVs), primarily due to complex aerodynamic couplings and the absence of welldefined lateral dynamics. This paper presents a novel modeling and control strategy that enhances yaw authority and lateral motion by introducing a sideslip force model derived from differential propeller slipstream effects acting on the fuselage under differential thrust. The resulting lateral force along the body y-axis enables yaw-based lateral position control without inducing roll coupling. The control framework employs a YXZ Euler rotation formulation to accurately represent attitude and incorporate gravitational components while directly controlling yaw in the yaxis, thereby improving lateral dynamic behavior and avoiding singularities. The proposed approach is validated through trajectory-tracking simulations conducted in a Unity-based environment. Tests on both rectangular and circular paths in hover mode demonstrate stable performance, with low mean absolute position errors and yaw deviations constrained within 5.688 degrees. These results confirm the effectiveness of the proposed lateral force generation model and provide a foundation for the development of agile, hover-capable tail-sitter UAVs.
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