论文标题
从对称到不对称
Cat-inspired Gaits for A Tilt-rotor -- from Symmetrical to Asymmetrical
论文作者
论文摘要
在过去几十年中开发的倾斜旋转器（四键）中，Rylls模型具有八个输入（四个巨大的推力和四个倾斜角度）引起了极大的关注。典型的反馈线性化操纵所有八个具有联合控制规则的输入，以稳定这种倾斜旋转。最近的研究没有通过控制规则分配倾斜角度，而是预定了倾斜角，并留下了唯一的控制信号的推力。这些倾斜角度设计用于模仿猫动作步态，避免了奇异的脱钩矩阵反馈线性化。为了完成对猫根启发的倾斜步态的讨论，该研究介绍了其余常见的猫步态，步行，跑步，横向疾驰和旋转疾病的分析。发现奇异的脱钩矩阵存在于行走步态和旋转疾驰。对这两个步态进行了进一步的修改，以适应反馈线性化的应用。然后，在跟踪实验中，将具有不同周期的修改步态应用于倾斜 - 旋转器，其中参考为均匀的直线运动和均匀的圆形运动。所有实验均在MATLAB的Simulink中模拟。结果表明。
Among the tilt-rotors (quadrotors) developed in the last decades, Rylls model with eight inputs (four magnitudes of the thrusts and four tilting angles) attracted great attention. Typical feedback linearization maneuvers all the eight inputs with a united control rule to stabilize this tilt-rotor. Instead of assigning the tilting angles by the control rule, the recent research predetermined the tilting angles and left the magnitudes of the thrusts the only control signals. These tilting angles are designed to mimic the cat-trot gait, avoiding the singular decoupling matrix feedback linearization. To complete the discussions of the cat-gaits inspired tilt-rotor gaits, this research addresses the analyses on the rest of the common cat gaits, walk, run, transverse gallop, and rotary gallop. It is found that the singular decoupling matrix exist in walk gait and rotary gallop. Further modifications are conducted to these two gaits to accommodate the application of feedback linearization. The modified gaits with different periods are then applied to the tilt-rotor in tracking experiments, in which the references are uniform rectilinear motion and uniform circular motion. All the experiments are simulated in Simulink, MATLAB. The result shows that.
