发表机构
North Carolina State University（北卡罗来纳州立大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出两种基于降阶姿态表示的四旋翼向量场跟踪控制器，利用控制障碍函数将安全编码进向量场，并通过仿真和实验验证其有效性。
AI 中文摘要
四旋翼的向量场跟踪提供了一个系统框架，用于在平移层面指定复杂行为并将其传递给完整的飞行器动力学。例如，安全等目标可以被编码到低维向量场中，然后通过适当的跟踪条件嵌入到完整动力学中。此类四旋翼跟踪控制器的发展可以受益于其平移动力学仅依赖于推力方向且与飞行器航向无关的事实。因此，利用单位球面几何的降阶姿态表示为四旋翼上的向量场跟踪提供了自然的框架。在这项工作中，我们分别基于动态扩展和几何控制，提出了两种使用降阶姿态表示的四旋翼向量场跟踪控制器。接下来，我们展示了如何使用控制障碍函数将安全编码到期望向量场中，并强制用于整个系统。通过仿真和实验飞行测试验证了所提方法的有效性。
英文摘要
Vector field tracking for quadrotors provides a systematic framework for specifying complex behaviors at the translational level and transferring them to the full vehicle dynamics. Objectives such as safety, for example, can be encoded into a low-dimensional vector field, which is then embedded into the full dynamics through appropriate tracking conditions. The development of such tracking controllers for quadrotors can be facilitated by the fact that their translational dynamics depend only on the thrust direction and are independent of the vehicle's heading. Thus, reduced-attitude representations, leveraging the geometry of the unit sphere, provide a natural framework for vector field tracking on quadrotors. In this work, we propose two vector field tracking controllers for quadrotors using reduced-attitude representations based on dynamic extension and geometric control, respectively. Next, we illustrate how safety can be encoded into the desired vector field using control barrier functions and enforced for the full system. The effectiveness of the proposed approaches is demonstrated via simulations and experimental flight tests.
