论文标题
使用基于Euler-Engle平面的控制
Quadcopter Tracking Using Euler-Angle-Free Flatness-Based Control
论文作者
论文摘要
过去，四肢轨道轨迹跟踪控制已在过去进行了广泛的研究和实施。可用的控件主要使用Euler角标准来描述四轴旋转运动学和动力学。结果，可以将相同的旋转转换为不同的滚动，俯仰和偏航角，因为在3维运动空间中有多个Euler角度标准来表征旋转的表征。此外，将四轮式方向转换为相关的滚动，俯仰和偏航角度在计算上昂贵，这可能使得很难跟踪快速，攻击性的轨迹。为了解决这些问题，本文将不使用Euler角度开发基于平坦的轨迹跟踪控制。我们评估和测试凉亭模拟环境中提出的控制性能，并将其功能与现有的Mellinger控制器进行对比，后者已被机器人技术和无人驾驶空中系统（UAS）社区广泛采用。
Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the same rotation can be translated into different roll, pitch, and yaw angles because there are multiple Euler angle standards for characterization of rotation in a 3-dimensional motion space. Additionally, it is computationally expensive to convert a quadcopters orientation to the associated roll, pitch, and yaw angles, which may make it difficult to track quick and aggressive trajectories. To address these issues, this paper will develop a flatness-based trajectory tracking control without using Euler angles. We assess and test the proposed controls performance in the Gazebo simulation environment and contrast its functionality with the existing Mellinger controller, which has been widely adopted by the robotics and unmanned aerial system (UAS) communities.
