论文标题
倾斜旋转的步态分析：动态可逆步态
Gait Analysis for A Tilt-rotor: The Dynamic Invertible Gait
论文作者
论文摘要
常规反馈线性化的控制器应用于倾斜旋转器（八个输入），导致倾斜角的广泛变化，而实际上预计这是不期望的。为了解决这个问题，我们介绍了新颖的概念无人机步态以限制倾斜角度。步态计划最初是为了解决四倍（四足）机器人的控制问题。将这种方法移植并伴有反馈线性化，向整形器移植可能会导致脱近耦合矩阵中众所周知的不可逆转问题。在这项研究中，我们探索了斜长是可逆步态，并应用反馈线性化以稳定态度和高度。实现全等级脱钩矩阵的等效条件被推导并简化为接近零的滚动和零螺距。本文提出了几个可逆步态，以进行态度 - 隔离控制测试。可视化感兴趣区域内公认的步态。该实验在MATLAB的Simulink中进行了模拟。结果表明态度和高度的有前途的反应。
Conventional Feedback-Linearization-based controller, applied to the tilt-rotor (eight inputs), results in the extensive changes in the tilting angles, which are not expected in practice. To solve this problem, we introduce the novel concept UAV gait to restrict the tilting angles. The gait plan was initially to solve the control problems for quadruped (four-legged) robots. Transplanting this approach, accompanied by feedback linearization, to the tiltrotor may cause the well-known non-invertible problem in the decoupling matrix. In this research, we explore the invertible gait for the tiltrotor and apply feedback linearization to stabilize the attitude and the altitude. The equivalent conditions to achieve a full-rank decoupling matrix are deduced and simplified to a near zero roll and zero pitch. This paper proposed several invertible gaits to conduct the attitude-altitude control test. The accepted gaits within the region of interest are visualized. The experiment is simulated in Simulink, MATLAB. The results show the promising response in attitude and altitude.
