论文标题
稳定球形钟摆上的四极管
Stabilizing a spherical pendulum on a quadrotor
论文作者
论文摘要
在本文中，我们设计了基于几何原理的后台控制法律，以使安装在移动四极管上的球形摆上摆动。控制矢量中的可用自由度也使我们能够将四型平行的平面平行于地面定位。确实，这里解决的问题确实是新颖的，并且具有许多实用应用，这些应用在运输二次载体顶部的有效载荷期间出现。建模和控制定律是无坐标的，因此避免了奇异性问题。该问题的几何处理极大地简化了系统的建模和控制定律。通过数值实验对控制动作的验证和支持，从而开始非常接近摆锤的向下稳定平衡位置。
In this article we design a backstepping control law based on geometric principles to swing up a spherical pendulum mounted on a moving quadrotor. The available degrees of freedom in the control vector also permit us to position the plane of the quadrotor parallel to the ground. The problem addressed here is, indeed, novel and has many practical applications which arise during the transport of a payload mounted on top of a quadrotor. The modeling and control law are coordinate-free and thus avoid singularity issues. The geometric treatment of the problem greatly simplifies both the modeling and control law for the system. The control action is verified and supported by numerical experiments for aggressive manoeuvres starting very close to the downward stable equilibrium position of the pendulum.
