QuadRocket：用于火箭类飞行器自适应推力矢量控制的空中机器人试验台
QuadRocket: An Aerial Robotic Testbed for Adaptive Thrust-Vector Control of Rocket-Like Vehicles
AI总结：
提出QuadRocket四旋翼火箭原型，通过自适应反步控制器实现未知扰动下的轨迹跟踪，并验证其作为推力矢量控制试验台的适用性。
摘要：
本文介绍了QuadRocket，一种基于四旋翼的火箭原型，为验证运载火箭类系统的先进推力矢量控制策略提供了低成本、低风险平台。该原型由一个圆柱形主体通过万向节安装在四旋翼顶部组成，形成一个具有不可忽略惯性的飞行倒立摆。在控制设计方面，将耦合系统建模为一个由沿其纵轴施加的矢量力驱动的轴对称刚体。采用二球面上的简化姿态表示，以显式利用飞行器的轴对称性，并将偏航与推力矢量方向解耦。在此模型上，我们推导了一种自适应反步控制器，在存在未知常值扰动的情况下实现几乎全局轨迹跟踪，同时通过控制点变换减轻非最小相位行为。然后，将四旋翼视为推力矢量执行器，设计了一种基于动态曲面的姿态控制器来跟踪期望的推力矢量，考虑了执行器动力学并避免了对虚拟控制信号的显式微分。完整架构在仿真中进行了评估，并在室内运动捕捉场中进行了实验验证。结果展示了精确的轨迹跟踪、有效的扰动补偿，并确认了QuadRocket作为推力矢量控制机器人飞行器多功能试验台的适用性。
英文摘要：
This paper presents QuadRocket, a quadrotor-based rocket prototype that provides a low-cost, low-risk platform for validating advanced thrust-vector control strategies for launch vehicle-type systems. The prototype consists of a cylindrical main body mounted on top of a quadrotor through a universal joint, forming a flying inverted pendulum with non-negligible inertia. For control design, the coupled system is modeled as a single axisymmetric rigid body actuated by a vectored force applied along its longitudinal axis. A reduced-attitude representation on the two sphere is adopted to explicitly exploit the vehicle's axial symmetry and to decouple yaw from the thrust-vector direction. On this model, we derive an adaptive backstepping controller that achieves almost global trajectory tracking in the presence of unknown constant disturbances, while a control-point transformation mitigates non minimum-phase behavior. The quadrotor is then treated as a thrust vector actuator, and a dynamic-surface-based attitude controller is designed to track the desired thrust-vector, accounting for actuation dynamics and avoiding explicit differentiation of virtual control signals. The complete architecture is evaluated in simulation and validated experimentally in an indoor motion-capture arena. Results demonstrate accurate trajectory tracking, effective disturbance compensation, and confirm the suitability of the QuadRocket as a versatile testbed for thrust-vector-controlled robotic vehicles.
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。
