Modeling and Control of a Coaxial Pendulum Drone

IF 14.3 1区工程技术 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-09-04 DOI:10.1109/TIV.2024.3454340

Yifan Wang;Zhiyu Wang;Gaoran Wang;Liangming Chen

引用次数: 0

Abstract

Given the high energy utilization efficiency of coaxial drones compared to quadrotors, an inverted pendulum coaxial drone is designed with a focus on its modeling and control. Based on the Lagrangian modeling method, a 6-DoF dynamical model of the pendulum drone is established. The strong coupling and under-actuated nature of the model pose significant control challenges. Controllers suitable for such system are proposed to stabilize the fully-actuated part and the two under-actuated parts of the dynamics, respectively. A theoretical stability analysis of the closed-loop dynamics is presented. Finally, in the simulation examples under static reference, dynamic reference, impulse disturbance and model uncertainties, the effectiveness of the proposed controller is verified, and its superior performance is demonstrated in comparative simulations.

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同轴摆无人机的建模与控制

鉴于同轴无人机相对于四旋翼无人机具有较高的能量利用效率，设计了一种倒立摆同轴无人机，重点研究了其建模和控制。基于拉格朗日建模方法，建立了摆无人机的六自由度动力学模型。模型的强耦合和欠驱动特性给控制带来了重大挑战。提出了适用于该系统的控制器，分别稳定系统的完全驱动部分和两个欠驱动部分。给出了闭环动力学的理论稳定性分析。最后，通过静态参考、动态参考、脉冲干扰和模型不确定性的仿真实例，验证了所提控制器的有效性，并通过对比仿真证明了其优越的性能。

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

IEEE Transactions on Intelligent Vehicles Mathematics-Control and Optimization

CiteScore

12.10

自引率

13.40%

发文量

177

期刊介绍： The IEEE Transactions on Intelligent Vehicles (T-IV) is a premier platform for publishing peer-reviewed articles that present innovative research concepts, application results, significant theoretical findings, and application case studies in the field of intelligent vehicles. With a particular emphasis on automated vehicles within roadway environments, T-IV aims to raise awareness of pressing research and application challenges. Our focus is on providing critical information to the intelligent vehicle community, serving as a dissemination vehicle for IEEE ITS Society members and others interested in learning about the state-of-the-art developments and progress in research and applications related to intelligent vehicles. Join us in advancing knowledge and innovation in this dynamic field.