Rylls tilt-rotor is a UAV with eight inputs; the four magnitudes of the thrusts as well as four tilting angles of the thrusts can be specified in need, e.g., based on a control rule. Despite of the success in simulation, conventional feedback linearization witnesses the over-intensive change in the inputs while applying to stabilize Rylls tilt-rotor. Our previous research thus put the extra procedure named gait plan forward to suppress the unexpected changes in the tilting angles. Accompanying the Two Color Map Theorem, the tilting-angles are planned robustly and continuously. The designed gaits are robust to the change of the attitude. However, this is not a complete theory before further applying to the tracking simulation test. This paper further discusses some gaits following the Two Color Map Theorem and simulates a tracking problem for a tilt-rotor. A uniform circular moving reference is designed to be tracked by the tilt-rotor equipped with the designed robust gait and the feedback linearization controller. The gaits satisfying Two Color Map Theorem show the robustness. The results from the simulation show the success in tracking of the tilt-rotor.
翻译:Rylls 倾斜- rotor 是一个有8个输入的无人机; 推力的4个大小以及推力的4个倾斜角度都可以在需要时指定, 例如根据控制规则。 尽管在模拟中取得了成功, 常规反馈线性化见证了投入在应用稳定 Rylls 倾斜- rotor 时的超密集变化。 我们先前的研究因此推出了名为“ 动作计划” 的额外程序, 以抑制倾斜角度的意外变化 。 在配有设计稳健的双色映像标语和反馈线性控制器的倾斜矩上, 计划强有力和连续地进行。 设计了对态度变化的快速调整。 然而, 在进一步应用跟踪模拟测试之前,这不是一个完整的理论。 本文进一步讨论了两个颜色映射标语后的一些曲道, 并模拟了倾斜斜体的跟踪问题。 移动时, 设计了一个统一的圆环, 由配有设计好的双色映射标语和反馈线性控制器的斜体跟踪器跟踪。 满足了两色映射线性图的轨显示着结果。 。 。