论文标题
在大型初始干扰中遭受完全转子故障的四四个恢复控制的不足恢复控制
Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances
论文作者
论文摘要
这项研究开发了一个容忍断层的控制器，该控制器能够从任意初始方向和角速度中恢复四肢，尽管转子完全失败。这种级联的控制方法包括一个位置/高度控制器，几乎全球收敛态度控制器以及基于二次编程的控制分配方法。作为主要的新颖性，不良角速度的限制被得出并融合到对照分配器中，从而显着改善了恢复性能。为了进行验证，我们进行了一组蒙特卡洛模拟，以测试从任意初始态度/速率条件中恢复四摩托的建议方法的可靠性。此外，还进行了现实生活测试。结果表明，在随便扔入空气中后，失败后四体可以恢复。
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a position/altitude controller, an almost-global convergence attitude controller, and a control allocation method based on quadratic programming. As a major novelty, a constraint of undesirable angular velocity is derived and fused into the control allocator, which significantly improves the recovery performance. For validation, we have conducted a set of Monte-Carlo simulation to test the reliability of the proposed method of recovering the quadrotor from arbitrary initial attitude/rate conditions. In addition, real-life flight tests have been performed. The results demonstrate that the post-failure quadrotor can recover after being casually tossed into the air.
