基于欧拉角自由平面度控制的四轴飞行器跟踪
Quadcopter Tracking Using Euler-Angle-Free Flatness-Based Control
摘要：
四轴飞行器轨迹跟踪控制在过去已经被广泛研究和实现。现有的控制大多使用欧拉角标准来描述四轴飞行器的旋转运动学和动力学。因此，相同的旋转可以被转换成不同的滚动角、俯仰角和偏航角，因为存在用于表征三维运动空间中的旋转的多个欧拉角标准。另外，将四轴飞行器取向转换为相关联的横滚角、俯仰角和偏航角在计算上是昂贵的，这可能使得难以跟踪快速且激进的轨迹。为了解决这些问题，本文将开发一种基于平坦度的轨迹跟踪控制，而不使用欧拉角。我们评估和测试建议的控制性能的露台模拟环境和对比其功能与现有的Mellinger控制器，这已被广泛采用的机器人和无人机系统（UAS）社区。
英文摘要：
Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the same rotation can be translated into different roll, pitch, and yaw angles because there are multiple Euler angle standards for characterization of rotation in a 3-dimensional motion space. Additionally, it is computationally expensive to convert a quadcopters orientation to the associated roll, pitch, and yaw angles, which may make it difficult to track quick and aggressive trajectories. To address these issues, this paper will develop a flatness-based trajectory tracking control without using Euler angles. We assess and test the proposed controls performance in the Gazebo simulation environment and contrast its functionality with the existing Mellinger controller, which has been widely adopted by the robotics and unmanned aerial system (UAS) communities.
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。
