采用全向倾转旋翼与切换控制器的自主空中栖息与离栖
Autonomous aerial perching and unperching using omnidirectional tiltrotor and switching controller
AI总结：
针对多旋翼空中离栖研究不足的问题，本研究开发了带栖息/离栖模块的全驱动倾转旋翼机器人，提出含过渡模式的切换控制器及稳健策略，首次实现基于全驱动倾转旋翼的自主铁磁表面栖息与离栖。
摘要：
与为延长作业时间而被广泛研究的空中栖息相比，多旋翼的空中离栖受到的关注极少。本研究提出了一种新型空中机器人，它能够在飞行过程中自主完成在铁磁表面上的栖息与离栖，还提出了一种切换控制器，用于在自由飞行与栖息的过渡阶段避免旋翼饱和并减轻超调量。为实现垂直表面上的稳定栖息与离栖动作，本研究首先开发了一款重量约1千克、可在90度俯仰角下悬停的全驱动倾转旋翼。我们设计了由单个伺服电机和一块磁铁组成的栖息/离栖模块，并将其安装在倾转旋翼上。本研究提出了一种包含专属控制模式的切换控制器，用于自由飞行与栖息之间的过渡。最后，我们提出了一种简单却有效的策略，以确保在存在测量与控制误差的情况下实现稳健栖息，并避免离栖后立即与栖息点发生碰撞。我们通过实验验证了所提出的框架：倾转旋翼在飞行过程中成功完成了垂直表面上的栖息与离栖。我们还通过消融实验证明了切换控制器中所提过渡模式的有效性——在未采用该模式的消融实验中，会出现大幅超调，甚至与栖息点发生碰撞。据作者所知，这项工作首次提出了采用全驱动倾转旋翼的自主空中离栖框架。
英文摘要：
Aerial unperching of multirotors has received little attention as opposed to perching that has been investigated to elongate operation time. This study presents a new aerial robot capable of both perching and unperching autonomously on/from a ferromagnetic surface during flight, and a switching controller to avoid rotor saturation and mitigate overshoot during transition between free-flight and perching. To enable stable perching and unperching maneuvers on/from a vertical surface, a lightweight ($\approx$ $1$ \si{kg}), fully actuated tiltrotor that can hover at $90^\circ$ pitch angle is first developed. We design a perching/unperching module composed of a single servomotor and a magnet, which is then mounted on the tiltrotor. A switching controller including exclusive control modes for transitions between free-flight and perching is proposed. Lastly, we propose a simple yet effective strategy to ensure robust perching in the presence of measurement and control errors and avoid collisions with the perching site immediately after unperching. We validate the proposed framework in experiments where the tiltrotor successfully performs perching and unperching on/from a vertical surface during flight. We further show effectiveness of the proposed transition mode in the switching controller by ablation studies where large overshoot and even collision with a perching site occur. To the best of the authors' knowledge, this work presents the first autonomous aerial unperching framework using a fully actuated tiltrotor.
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。
