提出新型单向连接系统，简化六自由度无人机控制设计。
A Unidirectionally Connected FAS Approach for 6-DOF Quadrotor Control
- 将欠驱动无人机动力学转为单向连接全驱动模型
- 无需估计控制输入高阶导数，实现闭环动态直接配置
- 适合需要精确轨迹跟踪的无人机控制研究者
本文提出一种单向连接全驱动系统（UC-FAS）方法，用于6-DOF四旋翼无人机的次级稳定与轨迹控制，部分克服了状态空间和全驱动系统框架的局限。该框架系统地将欠驱动四旋翼动力学转化为UC-FAS模型，统一了现有的不同FAS变换方式。通过消除对控制输入高阶导数的估计，该模型简化了控制器设计，并支持闭环动态的直接特征结构配置。仿真表明其具备精确的6-DOF轨迹跟踪性能。本工作将理论上的FAS方法进展与实际应用需求相衔接，为非线性四旋翼控制提供标准化范式。
原文摘要 · Abstract (English)
This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The framework systematically converts underactuated quadrotor dynamics into a UC-FAS model, unifying the existing different FAS transformation ways. By eliminating estimation of the high-order derivatives of control inputs, a drawback of current methods, the UC-FAS model simplifies controller design and enables direct eigenstructure assignment for closed-loop dynamics. Simulations demonstrate precise 6-DOF tracking performance. This work bridges theoretical FAS approach advancements with practical implementation needs, offering a standardized paradigm for nonlinear quadrotor control.
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