论文标题
倾斜旋转器的强大步态及其在跟踪控制中的应用 - 应用两个彩色图定理
The Robust Gait of a Tilt-rotor and Its Application to Tracking Control -- Application of Two Color Map Theorem
论文作者
论文摘要
Rylls Tilt-Rotor是一个无人机，有八个输入；可以根据控制规则指定推力的四个大小以及推力的四个倾斜角度。尽管在模拟方面取得了成功，但常规的反馈线性化证明了投入的过度变化，同时适用于稳定Rylls倾斜旋转。因此，我们以前的研究将额外的程序命名为“步态计划”计划，以抑制倾斜角度的意外变化。伴随两个颜色图定理，倾斜角度是坚定而连续的。设计的步态对态度的改变是强大的。但是，在进一步应用跟踪模拟测试之前，这不是一个完整的理论。本文进一步讨论了两个彩色图定理之后的步态，并模拟了倾斜旋转的跟踪问题。均匀的圆形移动参考被设计为由配备了设计健壮步态和反馈线性化控制器的倾斜旋转器跟踪。满足两个彩色图定理的步态显示了鲁棒性。模拟的结果显示了跟踪倾斜旋转的成功。
Rylls tilt-rotor is a UAV with eight inputs; the four magnitudes of the thrusts as well as four tilting angles of the thrusts can be specified in need, e.g., based on a control rule. Despite of the success in simulation, conventional feedback linearization witnesses the over-intensive change in the inputs while applying to stabilize Rylls tilt-rotor. Our previous research thus put the extra procedure named gait plan forward to suppress the unexpected changes in the tilting angles. Accompanying the Two Color Map Theorem, the tilting-angles are planned robustly and continuously. The designed gaits are robust to the change of the attitude. However, this is not a complete theory before further applying to the tracking simulation test. This paper further discusses some gaits following the Two Color Map Theorem and simulates a tracking problem for a tilt-rotor. A uniform circular moving reference is designed to be tracked by the tilt-rotor equipped with the designed robust gait and the feedback linearization controller. The gaits satisfying Two Color Map Theorem show the robustness. The results from the simulation show the success in tracking of the tilt-rotor.
