论文标题
切换模型的预测控制，用于在线结构改革的可折叠四极管
Switching Model Predictive Control for Online Structural Reformations of a Foldable Quadrotor
论文作者
论文摘要
本文的目的是制定开关模型的预测控制框架，该框架是可折叠四极管的情况，能够在在线结构改革中保留整体控制质量。大多数相关的科学出版物都考虑了航空车的固定形态。机电一体化的最新进展为通用的空中机器人设计带来了新的考虑，具有改变其形态以适应其环境的能力，从而增强其能力。提供仿真结果以证明所选控制方案的功效。
The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of the related scientific publications consider fixed morphology of the aerial vehicles. Recent advances in mechatronics have brought novel considerations for generalized aerial robotic designs with the ability to alter their morphology in order to adapt to their environment, thus enhancing their capabilities. Simulation results are provided to prove the efficacy of the selected control scheme.
