论文标题
抬起翼四轮驱动器的差异平坦度受到拖放的影响，以进行准确跟踪
Differential Flatness of Lifting-Wing Quadcopters Subject to Drag and Lift for Accurate Tracking
论文作者
论文摘要
在本文中，我们提出了一项有效的统一控制法，以准确跟踪具有不同安装角度的翼翼四轮驱动器的敏捷轨迹，该方向具有垂直起飞和着陆（VTOL）以及高速巡航飞行的能力。首先，我们通过在协调的转弯条件下使用非线性模型来得出了抬高翼动力学的差异平坦转换。为了提高敏捷轨迹的跟踪性能，提出的控制器结合了从差分平坦度计算出的状态和输入变量作为前馈。特别是，轨迹的三阶导数的混蛋被转换为角速度，作为进发液速度，从而显着改善了系统的带宽。同时，将反馈和前馈输出合并以处理外部干扰和模型不匹配。该控制算法在室外飞行测试中已进行了彻底评估，这表明它可以实现准确的轨迹跟踪。
In this paper, we propose an effective unified control law for accurately tracking agile trajectories for lifting-wing quadcopters with different installation angles, which have the capability of vertical takeoff and landing (VTOL) as well as high-speed cruise flight. First, we derive a differential flatness transform for the lifting-wing dynamics with a nonlinear model under coordinated turn condition. To increase the tracking performance on agile trajectories, the proposed controller incorporates the state and input variables calculated from differential flatness as feedforward. In particular, the jerk, the 3-order derivative of the trajectory, is converted into angular velocity as a feedforward item, which significantly improves the system bandwidth. At the same time, feedback and feedforward outputs are combined to deal with external disturbances and model mismatch. The control algorithm has been thoroughly evaluated in the outdoor flight tests, which show that it can achieve accurate trajectory tracking.
