针对海上风机巡检，提出基于敏感度的鲁棒控制，保障近距离飞行安全。
Sensitivity-Based Robust NMPC for Close-Proximity Offshore Wind Turbine Inspection with a Tilted Multirotor
- 利用状态敏感度构建不确定性裕度，实时收紧安全约束。
- 500次蒙特卡洛仿真中完全消除违规，仅小幅增加计算时间。
- 适合高精度巡检场景，尤其适用于参数不确定和强风环境。
近距离海上风机巡检需在大圆柱体周围严格控制间距，但质量、惯性、推力效率、阻力或风况与预设值偏差时，常规非线性模型预测控制（NMPC）可能违反安全约束。本文为倾角多旋翼提出一种基于敏感度的鲁棒NMPC，通过在线约束收紧保障塔筒间距安全。一阶参数状态敏感度提供结构化不确定性裕度，有限风扰则通过阶段依赖的附加裕度处理。该方法仅在原NMPC框架中增加敏感度传播与裕度评估，不改变滚动时域优化结构。在边界临界螺旋巡检轨迹上对500组不确定性实现实例进行蒙特卡洛测试表明，新控制器彻底消除了原NMPC中的间距违规，仅带来适度求解时间增长。
原文摘要 · Abstract (English)
Close-proximity offshore wind turbine inspection requires strict clearance control around large cylindrical structures under wind and model mismatch. Nominal Nonlinear Model Predictive Control (NMPC) may violate safety constraints when mass, inertia, thrust effectiveness, drag, or wind conditions differ from nominal assumptions. We propose a sensitivity-based robust NMPC for a tilted multirotor that robustifies the tower-clearance constraint via online constraint tightening. First-order parametric state sensitivities provide a structured-uncertainty margin, while bounded gusts are handled by a stage-dependent additive margin. The formulation augments the nominal NMPC with sensitivity propagation and margin evaluation only, leaving the receding-horizon optimization structure unchanged. Monte-Carlo evaluation over 500 uncertainty realizations on a boundary-critical helical inspection trajectory shows that the proposed controller eliminates the clearance violations observed under nominal NMPC at the cost of a moderate increase in solve time.
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