面向无缝模式过渡的倾转旋翼VTOL UAV统一MPC策略
A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning
AI总结：
提出一种基于MPC的统一控制策略，解决倾转旋翼VTOL无人机无需模式切换的控制分配问题，利用四旋翼冗余设计提升容错性，在性能上优于PID控制器并实现平滑过渡与精确转弯。
摘要：
远程飞行和垂直起降（VTOL）能力对城市空中交通（UAM）至关重要。倾转旋翼VTOL凭借其冗余控制权限，在控制简单性与系统复杂性之间取得了平衡。以往控制此类飞行器的研究要么需要为不同飞行器配置分别设计控制器并切换模式，要么在独立的执行器组上进行控制分配，无法充分利用倾转旋翼的冗余潜力。本文提出了一种基于MPC的统一控制策略，适用于定制的倾转旋翼VTOL无人机（UAV），无需模式切换，且能以一致方式进行控制分配。VTOL设计中集成了四个独立可控旋翼，提供了额外的冗余度，使其能够适应执行器故障。结果表明，该方法在保持统一控制的同时优于PID控制器。它使VTOL能够实现平滑的加减速以及精确的协调转弯。此外，独立控制的倾转机构使飞行器能够应对执行器故障，确保即使在舵机或电机发生故障时飞行器仍可运行。
英文摘要：
Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control authority. Prior work on controlling these aircraft either requires separate controllers and switching modes for different vehicle configurations or performs the control allocation on separate actuator sets, which cannot fully use the potential of the redundancy of tiltrotor. This paper introduces a unified MPC-based control strategy for a customized tiltrotor VTOL Unmanned Aerial Vehicle (UAV), which does not require mode-switching and can perform the control allocation in a consistent way. The incorporation of four independently controllable rotors in VTOL design offers an extra level of redundancy, allowing the VTOL to accommodate actuator failures. The result shows that our approach outperforms PID controllers while maintaining unified control. It allows the VTOL to perform smooth acceleration/deceleration, and precise coordinated turns. In addition, the independently controlled tilts enable the vehicle to handle actuator failures, ensuring that the aircraft remains operational even in the event of a servo or motor malfunction.
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。
