用于尾坐式无人机激进飞行的轨迹生成与跟踪控制
Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights
AI总结：
针对尾坐式无人机的轨迹生成与跟踪控制问题，提出基于微分平坦性的优化轨迹规划器和流形上MPC控制器，经多场景真实实验验证可实现高精度激进飞行。
摘要：
我们解决了与尾坐式无人机轨迹生成和跟踪控制相关的理论与实际问题。理论层面，我们重点研究微分平坦性特性，充分利用无人机的实际气动模型，为生成动态可行的轨迹和实现高性能跟踪控制奠定基础。我们发现，通过指定坐标飞行条件并选择飞行器位置作为平坦输出，在整个飞行包线内，配备精确气动模型的尾坐式无人机具有微分平坦性。这一基础特性使我们能够在轨迹规划和跟踪控制中充分利用高保真气动模型，实现精准的尾坐式无人机飞行。具体而言，我们提出了一种基于优化的尾坐式无人机轨迹规划器，可在考虑运动学约束、无奇点约束和执行器饱和的情况下，设计出高质量、平滑的轨迹。平坦输出的规划轨迹会结合环境中的风，实时转换为状态轨迹。为跟踪状态轨迹，我们开发了一种全局、无奇点且参数最少的流形上模型预测控制（MPC），该方法充分利用精确的气动模型，在整个飞行包线内实现高精度轨迹跟踪。我们通过室内外场地的大量真实实验验证了所提框架的有效性，实验包括：以最高10m/s的速度、保持特定姿态连续穿过狭窄窗口的灵活SE(3)飞行，以最高20m/s速度完成的典型尾坐式无人机机动动作（过渡、平飞和盘旋），以及加速度最高达2.5g的极端激进特技机动动作（Wingover、Loop、Vertical Eight和Cuban Eight）。
英文摘要：
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic models, which lays a foundation for generating dynamically feasible trajectory and achieving high-performance tracking control. We have found that a tail-sitter is differentially flat with accurate aerodynamic models within the entire flight envelope, by specifying coordinate flight condition and choosing the vehicle position as the flat output. This fundamental property allows us to fully exploit the high-fidelity aerodynamic models in the trajectory planning and tracking control to achieve accurate tail-sitter flights. Particularly, an optimization-based trajectory planner for tail-sitters is proposed to design high-quality, smooth trajectories with consideration of kinodynamic constraints, singularity-free constraints and actuator saturation. The planned trajectory of flat output is transformed to state trajectory in real-time with consideration of wind in environments. To track the state trajectory, a global, singularity-free, and minimally-parameterized on-manifold MPC is developed, which fully leverages the accurate aerodynamic model to achieve high-accuracy trajectory tracking within the whole flight envelope. The effectiveness of the proposed framework is demonstrated through extensive real-world experiments in both indoor and outdoor field tests, including agile SE(3) flight through consecutive narrow windows requiring specific attitude and with speed up to 10m/s, typical tail-sitter maneuvers (transition, level flight and loiter) with speed up to 20m/s, and extremely aggressive aerobatic maneuvers (Wingover, Loop, Vertical Eight and Cuban Eight) with acceleration up to 2.5g.
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。
