Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2024-05-17 DOI:10.1155/2024/5552493

Vijay Reddy Vundela, Vijay Muralidharan

引用次数: 0

Abstract

In this paper, we deal with a Bicopter drone that has two thrusters and two tilting servos. Both the position and attitude dynamics of Bicopter are globally expressed on the Special Euclidean group SE3. A simple control allocation method is proposed to map between the control wrench and actuator inputs for the Bicopter. A geometric nonlinear attitude and altitude tracking controller is developed for the Bicopter and the asymptotic stability analysis is performed using the Lyapunov method for the closed-loop nonlinear system. The performance of the proposed altitude and attitude stabilization controller is validated through experimental hardware developed in-house. The attitude controller performance is validated through simulations and shown to be comparable against an linear matrix inequality-based control law.

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几何框架下双翼无人机的非线性姿态和高度轨迹跟踪控制

本文讨论的是一架拥有两个推进器和两个倾斜伺服器的双旋翼无人机。双旋翼无人机的位置和姿态动态均在特殊欧几里得群 SE3 上进行全局表达。我们提出了一种简单的控制分配方法来映射 Bicopter 的控制扳手和执行器输入。为直升机开发了几何非线性姿态和高度跟踪控制器，并使用 Lyapunov 方法对闭环非线性系统进行了渐近稳定性分析。通过内部开发的实验硬件验证了所提出的高度和姿态稳定控制器的性能。通过模拟验证了姿态控制仪的性能，结果表明它与基于线性矩阵不等式的控制法具有可比性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.