论文标题
弹性四项的建模，控制和人体稳定性分析
Modeling, Control and Human-In-The-Loop Stability Analysis of an Elastic Quadrotor
论文作者
论文摘要
本文引入了一个分析框架，用于衍生柔性四极管运动的混合方程。这种方法有助于以脱钩的形式同时获得刚性和弹性的运动方程，从而有助于控制器设计。为整个系统动力学获得了延迟依赖性稳定性条件，包括具有反应时间延迟的操作员，自适应控制器和柔性四极动力学。实施了两个不同的自适应控制器来解决不确定性。通过模拟证明，与常规模型参考自适应控制器相比，使用闭环参考模型自适应控制器时，柔性臂尖端振荡会减轻。
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates the controller design. A delay-dependent stability condition is obtained for the overall system dynamics, including the operator with reaction time delay, the adaptive controller and the flexible quadrotor dynamics. Two different adaptive controllers are implemented to address the uncertainties. It is demonstrated via simulations that the flexible arm tip oscillations are mitigated when a closed loop reference model adaptive controller is used, compared to a conventional model reference adaptive controller.
