发表机构
Faculty of Aerospace Engineering, Delft University of Technology（代尔夫特理工大学航空航天工程学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究倾转旋翼无人机协同飞行的轨迹跟踪，基于简化空气动力学模型推导解析微分平坦变换，用旋转矩阵避免欧拉角模糊性，扩展控制器适用性，经实验验证在特定飞行状态的优势。
AI 中文摘要
本文利用简化空气动力学模型推导了倾转旋翼无人机在协同飞行条件下的解析微分平坦变换。所提出的框架仅使用旋转矩阵构建，避免了欧拉角表示固有的模糊性。该方法将现有基于微分平坦性的先进控制器的适用性扩展到涉及显著垂直速度分量的飞行状态，此前方法在此状态下不适用。通过轨迹实验验证了所提框架在这些状态下的优势。
英文摘要
This paper derives an analytical differential flatness transform for a tailsitter Unmanned Aerial Vehicle (UAV) under coordinated flight conditions using a simplified aerodynamic model. The proposed framework is formulated exclusively using rotation matrices, avoiding the ambiguities inherent to Euler angle representations. The method extends the applicability of an existing state-of-the-art differential flatness-based controller to flight regimes involving a significant vertical velocity component, where the previous approach becomes inapplicable. The proposed framework is validated experimentally with trajectories that highlight its advantages in these regimes.
