Mars has been a prime candidate for planetary exploration of the solar system because of the science discoveries that support chances of future habitation on this planet. Martian caves and lava tubes like terrains, which consists of uneven ground, poor visibility and confined space, makes it impossible for wheel based rovers to navigate through these areas. In order to address these limitations and advance the exploration capability in a Martian terrain, this article presents the design and control of a novel coaxial quadrotor Micro Aerial Vehicle (MAV). As it will be presented, the key contributions on the design and control architecture of the proposed Mars coaxial quadrotor, are introducing an alternative and more enhanced, from a control point of view concept, when compared in terms of autonomy to Ingenuity. Based on the presented design, the article will introduce the mathematical modelling and automatic control framework of the vehicle that will consist of a linearised model of a co-axial quadrotor and a corresponding Model Predictive Controller (MPC) for the trajectory tracking. Among the many models, proposed for the aerial flight on Mars, a reliable control architecture lacks in the related state of the art. The MPC based closed loop responses of the proposed MAV will be verified in different conditions during the flight with additional disturbances, induced to replicate a real flight scenario. In order to further validate the proposed control architecture and prove the efficacy of the suggested design, the introduced Mars coaxial quadrotor and the MPC scheme will be compared to a PID-type controller, similar to the Ingenuity helicopter's control architecture for the position and the heading.
翻译:火星洞穴和熔岩管,如地形,由不均匀的地面、可见度低和封闭的空间组成,使得轮式流星体无法穿过这些地区。为了解决这些局限性,提高火星地形的勘探能力,本文章介绍了新型共轴二次二次地震仪(MAV)的设计和控制,并将介绍为轨迹跟踪而推出的模拟预测控制模型。在拟建的火星共轴二次地震仪的设计和控制结构中,许多模型中包括了从控制点到控制点的更相似的替代和强化。在与Ingenuity的自主性相比,火星洞穴和熔岩管管使轮流无法穿过这些地区。根据所提出的设计,本文章将介绍该飞行器的数学模型和自动控制框架,该模型将包含一个联轴式共轴心和相应的模拟预测控制器(MPC)。在拟建的火星空中飞行舱设计和控制结构中,一个可靠的控制结构从控制点到相关的飞行轨迹模型,在相关的飞行轨迹中,一个比较结构将缺乏,在相关的飞行轨迹结构中,一个固定飞行结构中将进一步验证。