航空直升机姿态鲁棒跟踪：一种几何方法
Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach
AI总结：
本文基于直升机的动力学特性，提出两种无奇异鲁棒姿态跟踪控制器，通过反馈可用状态设计鲁棒补偿器和被动鲁棒控制器，以抑制跟踪误差。
摘要：
本文强调小型特技直升机控制设计中旋翼动力学的重要性，并提出两种无奇异的鲁棒姿态跟踪控制器，基于可用状态进行反馈。第一种利用角速度和桨叶偏角状态（不易测量的变量）并采用反步技术设计鲁棒补偿器（BRC）以主动抑制由扰动引起的跟踪误差。第二种利用直升机动力学中固有的阻尼特性，设计出结构保持的被动鲁棒控制器（SPR），无需角速度和桨叶偏角反馈。BRC控制器在存在两种类型的不确定性（结构和非结构）情况下均具有鲁棒性。结构扰动源于旋翼参数的不确定性，非结构扰动则建模为作用在机身上的外生力矩。通过数值模拟验证控制器在两种扰动下的性能。相比之下，SPR跟踪控制器被设计成跟踪误差动力学继承直升机的自然阻尼特性。SPR控制器被证明几乎全局渐近稳定，其性能通过执行激进翻转动作进行实验评估。整个研究中使用了非线性耦合旋翼-机身直升机模型，包含一阶桨叶动力学。
英文摘要：
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The first, employs the angular velocity and the flap angle states (a variable that is not easy to measure) and uses a backstepping technique to design a robust compensator (BRC) to \textbf{\textit{actively}} suppress the disturbance induced tracking error. 2. The second exploits the inherent damping present in the helicopter dynamics leading to a structure preserving, \textbf{\textit{passively}} robust controller (SPR), which is free of angular velocity and flap angle feedback. The BRC controller is designed to be robust in the presence of two types of uncertainties: structured and unstructured. The structured disturbance is due to uncertainty in the rotor parameters, and the unstructured perturbation is modeled as an exogenous torque acting on the fuselage. The performance of the controller is demonstrated in the presence of both types of disturbances through numerical simulations. In contrast, the SPR tracking controller is derived such that the tracking error dynamics inherits the natural damping characteristic of the helicopter. The SPR controller is shown to be almost globally asymptotically stable and its performance is evaluated experimentally by performing aggressive flip maneuvers. Throughout the study, a nonlinear coupled rotor-fuselage helicopter model with first order flap dynamics is used.
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。
