提出新方法让垂直起降无人机更精准跟踪复杂轨迹。
Coordinated Incremental Trajectory Tracking of a Tailsitter Drone
- 用旋转矩阵替代欧拉角，避免控制歧义。
- 可实现含大垂直速度的飞行轨迹精准跟踪。
- 适合需要高精度垂直机动的无人机应用场景。
本文针对尾座式无人飞行器（Tailsitter UAV）在协同飞行条件下的运动控制问题，基于简化的气动模型推导出一种解析的微分平坦性变换。所提框架仅使用旋转矩阵进行表述，避免了欧拉角表示固有的歧义性。该方法将现有先进微分平坦性控制器的应用范围扩展至包含显著垂直速度分量的飞行状态，而此前的方法在此类情况下失效。实验验证了所提框架在复杂轨迹跟踪中的有效性，尤其在垂直机动场景中表现出明显优势。
原文摘要 · Abstract (English)
This paper derives an analytical differential flatness transform for a tailsitter Unmanned Aerial Vehicle (UAV) under coordinated flight conditions using a simplified aerodynamic model. The proposed framework is formulated exclusively using rotation matrices, avoiding the ambiguities inherent to Euler angle representations. The method extends the applicability of an existing state-of-the-art differential flatness-based controller to flight regimes involving a significant vertical velocity component, where the previous approach becomes inapplicable. The proposed framework is validated experimentally with trajectories that highlight its advantages in these regimes.
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