论文标题
UAS模拟器，用于建模，分析和控制，在自由飞行和物理互动中
UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction
论文作者
论文摘要
本文介绍了无人驾驶飞行系统（UAS）快速开发的ARCAD模拟器，包括不足的和完全散发的多旋风，固定翼飞机以及垂直起飞和降落（VTOL）混合动力汽车。该模拟器旨在加速这些飞机的建模和控制设计。它提供了对设计和操作的各种分析，例如扳手计算，控制器响应和飞行优化。除了模拟免费飞行外，它还可以模拟飞机与环境的物理相互作用。模拟器以MATLAB编写，以允许快速原型制作，并且除了生成所需的图外，还可以生成飞机和环境的图形可视化。它已被用来开发多个现实世界多旋转器和VTOL应用程序。源代码可在https://github.com/keipour/aircraft-simulator-matlab上找到。
This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The simulator is designed to accelerate these aircraft's modeling and control design. It provides various analyses of the design and operation, such as wrench-set computation, controller response, and flight optimization. In addition to simulating free flight, it can simulate the physical interaction of the aircraft with its environment. The simulator is written in MATLAB to allow rapid prototyping and is capable of generating graphical visualization of the aircraft and the environment in addition to generating the desired plots. It has been used to develop several real-world multirotor and VTOL applications. The source code is available at https://github.com/keipour/aircraft-simulator-matlab.
