全驱动空中车辆的控制：模型驱动与传感器驱动动态逆反比比较
Control of Fully Actuated Aerial Vehicles: A Comparison of Model-based and Sensor-based Dynamic Inversion
AI总结：
本文比较了模型驱动和传感器驱动动态逆控制器在全驱动六旋翼上的性能，发现传感器驱动在参数不匹配、风扰和传感器退化时表现更优，但在控制频率降低时模型驱动更佳。
摘要：
全驱动多旋翼平台将力生成与车辆姿态解耦，使位置和姿态控制独立，将性能限制从姿态权限转移到执行器动态和控制有效性。本文在全驱动六旋翼上比较了模型驱动非线性动态逆控制器（几何NDI）与传感器驱动增量动态逆控制器（INDI）。两种控制器具有相同的外环结构，均以500Hz执行，因此性能差异主要归因于逆策略。控制器性能在五个实验中评估，涵盖在名义条件下和50%旋翼力系数不匹配下的姿态阶跃跟踪，外部侧向负载下的悬停扰动抑制，风扰存在下的航点跟踪，降低控制频率和注入的传感器退化。结果表明，INDI在参数不匹配、风扰和传感器退化时有明显优势，并在控制器频率扫掠中保持较低的位置误差。然而，其优势并非普遍：几何NDI在降低控制频率时姿态跟踪更好。据作者所知，本文首次实验验证了具有解耦平动和旋转动态的完整姿态跟踪INDI控制器。这些发现突显了基于测量和模型驱动逆反在鲁棒控制和快速部署全驱动无人机中的权衡。
英文摘要：
Fully actuated multirotor platforms decouple translational force generation from vehicle attitude, enabling independent control of position and orientation and shifting performance limitations from attitude authority to actuator dynamics and control effectiveness. This paper compares a model-based nonlinear dynamic inversion controller (geometric NDI) with a sensor-based incremental dynamic inversion controller (INDI) on a fixed-tilt fully actuated hexarotor. Both controllers share an identical outer-loop structure and are both executed at 500 Hz; therefore, performance differences can be attributed primarily to the inversion strategy. Controller performance is evaluated in five experiments covering attitude step tracking under nominal conditions and under a 50% mismatch in the rotor force coefficient, hover disturbance rejection under an external lateral load, waypoint tracking in the presence of wind gust disturbances, reduced control frequency, and injected sensor degradation. The results show that INDI offers clear advantages under parameter mismatch, gust disturbances, and sensor degradation, and maintains lower position errors across the controller-frequency sweep. However, its advantages are not universal: geometric NDI yields better attitude tracking at reduced control frequencies. To the authors' best knowledge, this work presents the first experimental validation of a full pose tracking INDI controller with decoupled translational and rotational dynamics. These findings highlight the trade-off between measurement-based and model-based inversion for robust control and rapid deployment of fully actuated UAVs.
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。
