论文标题
将扁平运动计划扩展到非平板系统。使用Maple进行飞机型号的实验
Extending Flat Motion Planning to Non-flat Systems. Experiments on Aircraft Models Using Maple
论文作者
论文摘要
如果忽略与空气动力学相关的某些术语，则飞机型号可能被认为是平坦的。枫木中的计算实验表明，在某些情况下，当应用于非灯塔模型时，适当设计的进料允许遵循此类轨迹。但是，通过这种扁平近似，有些操作可能难以实现。在本文中，我们提出了一个迭代过程，以从平坦的参考轨迹开始计算更可实现的轨迹。更确切地说，使用上一步中获得的值对平面模型中未知的被忽略的项进行了重新评估。该过程可以使用无限数量的衍生物（可以称为\ emph {generalized flatmess}的属性}来解释为新的轨迹参数化。我们说明了这种方法在从单个发动机飞行到Aileron滚动的越来越多的困难的飞行条件下的相关性。
Aircraft models may be considered as flat if one neglects some terms associated to aerodynamics. Computational experiments in Maple show that in some cases a suitably designed feed-back allows to follow such trajectories, when applied to the non-flat model. However some maneuvers may be hard or even impossible to achieve with this flat approximation. In this paper, we propose an iterated process to compute a more achievable trajectory, starting from the flat reference trajectory. More precisely, the unknown neglected terms in the flat model are iteratively re-evaluated using the values obtained at the previous step. This process may be interpreted as a new trajectory parametrization, using an infinite number of derivatives, a property that may be called \emph{generalized flatness}. We illustrate the pertinence of this approach in flight conditions of increasing difficulties, from single engine flight, to aileron roll.
