提出自主切换控制策略，解决微型无人机滑翔中的盘旋问题。
Breaking the Circle: An Autonomous Control-Switching Strategy for Stable Orographic Soaring in MAVs
- 通过选择性控制水平或垂直轴，避免纵向与垂向控制冲突。
- 仿真与实验表明定位收敛更快，油门使用减少，滚转振荡减弱。
- 适合需要长续航的微型无人机在复杂地形飞行场景使用。
地形滑翔可显著延长微型飞行器（MAVs）的续航能力，但因纵轴与垂轴控制冲突导致的盘旋行为会增加能耗并引发发散风险。本文提出一种名为SAOS（Switched Control for Autonomous Orographic Soaring）的控制切换方法，通过在滑翔过程中选择性地控制水平或垂直轴，将系统从欠驱动状态转变为全驱动状态，有效缓解盘旋现象。同时，将迎角引入INDI控制器以提升受力估计精度。在随机初始位置下的仿真及两架MAV的风洞实验表明，SAOS能提升定位收敛速度，降低油门使用率，并减轻由俯仰-滚转耦合引起的滚转振荡。这些改进显著提升了受限滑翔环境中的能量效率与飞行稳定性。
原文摘要 · Abstract (English)
Orographic soaring can significantly extend the endurance of micro aerial vehicles (MAVs), but circling behavior, arising from control conflicts between the longitudinal and vertical axes, increases energy consumption and the risk of divergence. We propose a control switching method, named SAOS: Switched Control for Autonomous Orographic Soaring, which mitigates circling behavior by selectively controlling either the horizontal or vertical axis, effectively transforming the system from underactuated to fully actuated during soaring. Additionally, the angle of attack is incorporated into the INDI controller to improve force estimation. Simulations with randomized initial positions and wind tunnel experiments on two MAVs demonstrate that the SAOS improves position convergence, reduces throttle usage, and mitigates roll oscillations caused by pitch-roll coupling. These improvements enhance energy efficiency and flight stability in constrained soaring environments.
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