论文标题
设计和最佳控制微型飞行器，以进行有效的全向飞行
Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight
论文作者
论文摘要
全向微型航空车是一个日益增长的研究领域，具有空中相互作用和无抑制观察的优势。尽管已经独立开发了具有完全姿势全向性和高悬停效率的系统，但迄今为止尚未证明这两者结合的强大系统。本文介绍了新型全向车辆的设计和最佳控制，该车辆可以在任何方向上施加扳手，同时保持有效的飞行配置。系统设计是由形态设计优化的结果激励的。得出了六个自由度最佳控制器，采用执行器分配方法来实现任务优先级，并且对奇异性是可靠的。飞行实验证明并验证系统的功能。
Omnidirectional micro aerial vehicles are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is motivated by the result of a morphology design optimization. A six degrees of freedom optimal controller is derived, with an actuator allocation approach that implements task prioritization, and is robust to singularities. Flight experiments demonstrate and verify the system's capabilities.
