为可独立倾转螺旋桨的六旋翼无人机设计动态分配控制，提升轨迹跟踪性能。
Dynamic Control Allocation for Dual-Tilt UAV Platforms
- 分层控制结构：高层控制器生成所需力矩，分配器优化执行器输出。
- 考虑执行器饱和，理论分析其对控制性能的影响，仿真验证策略有效性。
- 通过非对称目标函数调节螺旋桨倾角，实现更优的飞行状态控制。
本文研究双倾转六旋翼无人机的动态控制分配问题，以轨迹跟踪任务为案例。该平台具备沿两个正交轴独立倾转每个螺旋桨的能力。提出一种分层控制架构，包括高层控制器生成任务所需的合力与力矩，以及控制分配算法确保执行器产生相应输出。分配器为执行器组引入期望的一阶动态，并利用系统冗余性，基于给定目标函数优化执行器状态。与以往研究不同，本文显式建模执行器饱和，并提供其对控制性能影响的理论分析。同时，通过在目标函数中引入非对称形式，研究螺旋桨倾角的作用。数值仿真验证了所提分配策略的有效性。
原文摘要 · Abstract (English)
This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller independently during flight, along two orthogonal axis. We present a hierarchical control structure composed of a high-level controller generating the required wrench for the tracking task, and a control allocation law ensuring that the actuators produce such wrench. The allocator imposes desired first-order dynamics on the actuators set, and exploits system redundancy to optimize the actuators state with respect to a given objective function. Unlike other studies on the subject, we explicitly model actuator saturation and provide theoretical insights on its effect on control performances. We also investigate the role of propeller tilt angles, by imposing asymmetric shapes in the objective function. Numerical simulations are presented to validate the allocation strategy.
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