为多旋翼飞行器设计了抗阻力的控制分配框架，提升高阻力下的操控稳定性。
Aero-Promptness: Drag-Aware Aerodynamic Manipulability for Propeller-driven Vehicles
- 基于电机剩余加速能力构建黎曼度量，显式考虑扭矩限制与空气阻力。
- 通过优化可操纵体积最大化控制冗余利用率，避免高速时推力衰减。
- 理论证明最优解形成光滑流形，适合高动态飞行任务的实时控制设计。
本文提出一种抗阻力的气动可操纵性（DAAM）框架，用于冗余多旋翼的控制分配。通过在螺旋桨转速空间中引入基于各电机剩余对称加速度能力的黎曼度量，该方法显式考虑电机扭矩极限和气动阻力。将此度量通过非线性推力定律映射至广义力空间，得到状态依赖的可操纵体积。该体积的对数行列式作为自然障碍函数，严格惩罚因阻力引起的饱和及低转速推力损失。沿分配纤维优化该体积，提供一种在广义力空间中任意坐标缩放下保持不变的冗余化解算策略。理论上证明，所得最优分配在局部形成光滑嵌入流形，并几何刻画了由物理执行器极限和转速符号变化不可避免引发的全局跳跃间断。
原文摘要 · Abstract (English)
This work introduces the Drag-Aware Aerodynamic Manipulability (DAAM), a geometric framework for control allocation in redundant multirotors. By equipping the propeller spin-rate space with a Riemannian metric based on the remaining symmetric acceleration capacity of each motor, the formulation explicitly accounts for motor torque limits and aerodynamic drag. Mapping this metric through the nonlinear thrust law to the generalized force space yields a state-dependent manipulability volume. The log-determinant of this volume acts as a natural barrier function, strictly penalizing drag-induced saturation and low-spin thrust loss. Optimizing this volume along the allocation fibers provides a redundancy resolution strategy inherently invariant to arbitrary coordinate scaling in the generalized-force space. Analytically, we prove that the resulting optimal allocations locally form smooth embedded manifolds, and we geometrically characterize the global jump discontinuities that inevitably arise from physical actuator limits and spin-rate sign transitions.
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