李群上扑翼UAV的几何最优控制
Geometric Optimal Controls for Flapping Wing UAV on a Lie Group
摘要：
以帝王蝶的飞行特性为研究对象，提出了一种计及低频扑动和腹部起伏影响的最优控制问题。将扑翼飞行器建模为铰接刚体，并根据拉格朗日力学在抽象李群上建立其动力学方程。这为扑翼飞行器的动力学提供了一个优雅的全局公式，避免了与局部坐标相关的复杂性和奇异性。这被用来识别最小化能量变化的最佳周期性运动，并且制定最优控制以稳定周期性运动。此外，本文的结果可以应用于任何具有构型依赖惯性的李群上的拉格朗日系统的最优控制。
英文摘要：
Inspired by flight characteristics captured from live Monarch butterflies, an optimal control problem is presented while accounting the effects of low-frequency flapping and abdomen undulation. A flapping-wing aerial vehicle is modeled as an articulated rigid body, and its dynamics are developed according to Lagrangian mechanics on an abstract Lie group. This provides an elegant, global formulation of the dynamics for flapping-wing aerial vehicles, avoiding complexities and singularities associated with local coordinates. This is utilized to identify an optimal periodic motion that minimizes energy variations, and an optimal control is formulated to stabilize the periodic motion. Furthermore, the outcome of this paper can be applied to optimal control for any Lagrangian system on a Lie group with a configuration-dependent inertia.
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。
