欠驱动扑翼飞行器的最小加加速度轨迹生成与控制
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial Vehicle
AI总结：
针对欠驱动扑翼飞行器，本文利用微分平坦性生成最小加加速度轨迹，并结合鲁棒与切换控制实现跟踪，通过Lyapunov分析保证稳定性，实验验证了三维真实飞行的闭环集成。
摘要：
本文提出了一种欠驱动扑翼飞行器（FWAV）的轨迹生成与跟踪控制策略。首先，从实际角度分析了FWAV的动力学特性。然后，基于这些分析，证明了FWAV系统的微分平坦性，并开发了一种通用轨迹生成策略。随后，借助鲁棒控制和切换控制技术设计了轨迹跟踪控制器。之后，通过Lyapunov稳定性分析保证了整个系统的渐近稳定性。为使控制器能够应用于真实飞行，还提供了若干实施指导。最后，一系列实验结果表明，所提出的轨迹生成策略和跟踪控制策略得到了成功实现。本工作首次在实用层面上实现了欠驱动FWAV真实三维飞行中轨迹生成与控制的闭环集成。
英文摘要：
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial VehicleThis paper presents both the trajectory generation and tracking control strategies for an underactuated flapping wing aerial vehicle (FWAV). First, the FWAV dynamics is analyzed in a practical perspective. Then, based on these analyses, we demonstrate the differential flatness of the FWAV system, and develop a general-purpose trajectory generation strategy. Subsequently, the trajectory tracking controller is developed with the help of robust control and switch control techniques. After that, the overall system asymptotic stability is guaranteed by Lyapunov stability analysis. To make the controller applicable in real flight, we also provide several instructions. Finally, a series of experiment results manifest the successful implementation of the proposed trajectory generation strategy and tracking control strategy. This work firstly achieves the closed-loop integration of trajectory generation and control for real 3-dimensional flight of an underactuated FWAV to a practical level.
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。
