发表机构
Sultan Qaboos University; New Jersey Institute of Technology（苏丹卡布斯大学; 新泽西理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对四旋翼单旋翼故障，提出基于准静态反馈的非线性控制律，稳定路径跟踪流形以实现路径不变性和局部指数收敛，提供可证明的安全保证，并经Drake仿真验证。
AI 中文摘要
本文针对单旋翼故障的四旋翼无人机（UAV），提出了一种通过准静态反馈（QSF）保证集合稳定的非线性控制律。给定三维空间中的几何曲线，我们刻画并稳定零动力学流形，也称为路径跟踪流形，该流形表示沿路径的所有可行运动。稳定该流形可确保路径不变性：具有故障旋翼的无人机若以适当姿态在路径上初始化，则未来所有时间都保持在路径上。此外，在特定条件下，保证了对流形的局部指数收敛，这意味着在所陈述的假设下，飞行中的旋翼故障不会导致偏离路径的横向偏差。因此，所提出的控制器提供了理论上的安全保证，并通过Drake基于物理的仿真引擎中的数值实验进行了验证。代码可在此https URL公开获取。
英文摘要
This paper presents a nonlinear control law for a quadrotor unmanned aerial vehicle (UAV) under single-rotor failure that guarantees set stabilization via quasi-static feedback (QSF). Given a geometric curve in three-dimensional space, we characterize and stabilize the zero-dynamics manifold, also known as the path-following manifold, which represents all feasible motions along the path. Stabilizing this manifold ensures path-invariance: a UAV with a failed rotor initialized on the path with an appropriate orientation remains on the path for all future time. Furthermore, local exponential convergence to the manifold is guaranteed under certain conditions, implying that, under the stated assumptions, rotor failure during flight does not cause transverse deviation from the path. The proposed controller thus provides theoretical safety guarantees, which are validated through numerical experiments in the Drake physics-based simulation engine. The code is publicly available at https://gradslab.github.io/quasistatic-ftc/.
Comments7 pages, 3 figures (14 panels). Accepted for presentation at the 2026 IEEE Conference on Control Technology and Applications (CCTA)
