一种新型尾翼--旋转双翼四旋翼机的姿态控制
Attitude Control of a Novel Tailsitter: Swiveling Biplane-Quadrotor
摘要：
针对一种新型四旋翼无人机-旋转双翼四旋翼机的姿态跟踪问题，提出了一种解决方案。所提出的飞行器设计通过提出一种新的设计来解决传统双翼四旋翼尾座中缺乏偏航控制权限的问题，其中具有两个附接螺旋桨的两个机翼通过旋转机构与杆连接在一起。偏航力矩由每个机翼的推力矢量的相对旋转产生。该构型的独特设计使两个刚性体通过一根扭转刚度为零的杆相互连接，从而使飞行器在姿态构型流形中欠驱动。输出跟踪问题的结果是一个等效的刚体姿态跟踪问题的二阶矩动力学。所提出的控制器是一致有效的所有姿态，是基于动态反馈线性化的几何控制框架。所需的平衡跟踪误差动态的几乎全局渐近稳定性。数值仿真和飞行试验表明了该控制器的有效性。
英文摘要：
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in conventional biplane quadrotor tailsitters by proposing a new design wherein two wings with two attached propellers are joined together with a rod through a swivel mechanism. The yaw torque is generated by relative rotation of the thrust vector of each wing. The unique design of this configuration having two rigid bodies interconnected through a rod with zero torsional rigidity makes the vehicle underactuated in the attitude configuration manifold. An output tracking problem is posed which results in a single equivalent rigid body attitude tracking problem with second-order moment dynamics. The proposed controller is uniformly valid for all attitudes and is based on dynamic feedback linearization in a geometric control framework. Almost-global asymptotic stability of the desired equilibrium of the tracking error dynamics is shown. The efficacy of the controller is shown with numerical simulation and flight tests.
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