四旋翼巡航控制的解耦与非线性PD控制器设计
Design of Decoupling and Nonlinear PD Controller for Cruise Control of a Quadrotor
AI总结：
本文提出了解耦与非线性PD控制器设计，用于四旋翼巡航控制，通过消除旋转运动的耦合效应，实现独立控制，并通过仿真验证了在x和y轴上精确跟踪预期轨迹的能力。
摘要：
四旋翼常用于执行监视、领土测绘、搜救等任务。四旋翼是一个非线性多输入多输出系统，由于外部干扰导致稳定性问题。这些特性使得四旋翼自动巡航控制困难。解耦方法用于消除其他控制对旋转运动的影响，从而可以独立控制滚角、俯仰角和偏航角。非线性PD控制器通过控制信号的逆模型获得，并用于控制x和y轴的平移运动，因为旋转角度的影响。仿真结果表明，所提出的方法可以消除滚角、俯仰角和偏航角的控制耦合效应，使其工作如单输入单输出系统，并且x和y轴的平移运动可以精确实现预期轨迹。
英文摘要：
Quadrotor is often used to accomplish various missions related to surveillance, territory mapping, search and rescue, and other purposes. Quadrotor is a nonlinear system with multiple input multiple output and has stability issue due to external disturbance. These characteristics lead to difficulty in cruise control of quadrotor automatically. Decoupling method is used to eliminate the interaction of other control on rotational motion, then the roll, pitch, and yaw angle can be controlled independently. Nonlinear PD controller is obtained from invers model of control signal on a quad rotor and it is used to control the translational motion in x and y axis with nonlinear dynamics because of the influence the rotational angle. Simulation results show that the proposed method can eliminate the control interaction of roll, pitch and yaw angle, hence it works like single input single output system and translational motion on x andy axis can achieve the expected trajectory precisely.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
