基于能量成型的四旋翼空中机器人有界输入条件下的飞行控制方法研究

项目名称： 基于能量成型的四旋翼空中机器人有界输入条件下的飞行控制方法研究

项目编号： No.61304017

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 宫勋

作者单位： 中国科学院长春光学精密机械与物理研究所

项目金额： 25万元

中文摘要： 由于受到欠驱动与有界输入特性等的共同作用，四旋翼机器人的轨迹跟踪成为了一个复杂的控制问题，相关研究尚未能取得有效成果。针对这一问题，本课题拟基于能量成型的观点，引入受控拉格朗日函数（CL）法，采用理论分析、数值仿真以及原型机实验相结合的方式进行研究。首先利用能量函数构建机器人的动力学模型，分析有界输入条件下匹配条件可解性与受控能量可镇定性之间的关系，建立机器人的姿态稳定控制系统；最后通过构造受控能量函数将轨迹跟踪问题转化为镇定问题，确定二阶欠驱动度与有界输入共同作用下的控制匹配条件，实现CL法在机器人轨迹跟踪控制系统中的应用。本课题从能量的角度扩展了四旋翼机器人控制方法的研究思路，相关研究成果将有效提高四旋翼机器人在欠驱动和有界输入共同影响下的飞行品质，并为其它多旋翼机器人的控制方法研究提供借鉴经验。此外，本课题相关研究内容也是对CL法本身的一种发展，具有显著的理论研究意义和应用价值。

中文关键词： 空中机器人；能量成型；有界输入；匹配；受控拉格朗日函数

英文摘要： In recent years, a kind of Quad-Rotor aerial robot has quickly emerged as a popular unmanned aerial vehicle (UAV) platform. It is capable of vertical taking off and landing in limited space, and hovering over a target accurately. Due to its simple mechanical structure and high maneuverability, the robot has potential for many civil and military applications including surveillance, intervention in hostile environments, air pollution monitoring, and so on. But influenced by the under-actuation and bounded input features, the trajectory tracking of a Quad-Rotor robot becomes a complex control question which has not been solved effectively yet. According to this question, this project will introduce the Controlled Lagrangians(CL) function technique based on the energy-shaping theory into the design process of flight control system. The major work of this project will be studied through an integrated method composed of the theoretical analysis, numerical simulation and flight test of a prototype, and divided into two sections. In the first section, the dynamics model of a Quad-Rotor robot will be built based on its energy function, the relationship between the solvability of control matching condition and the stabilization of controlled energy will be analyzed, and the matching robot attitude stability control system

英文关键词： aerial robot；energy shaping；bounded input；matching；congtrolled Lagrangians