论文标题
质心空气动力学建模和飞行多体机器人的控制
Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots
论文作者
论文摘要
本文为多体飞行机器人提供了一个建模和控制框架，但受到对质心动力学作用的不可忽略的空气动力。首先，通过计算流体动力学（CFD）分析，在机器人飞行过程中计算出空气动力。然后，通过CFD分析收集的数据集生成空气动力学系数的分析模型。获得的简化空气动力学模型还用于改善飞行机器人控制设计。我们提出了两种控制策略：通过反馈线性化来补偿空气动力学效应，并通过增益安排来实现控制器的鲁棒性。喷射驱动的类人机器人铁筒子的仿真结果验证了所提出的方法。
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics (CFD) analysis. Then, analytical models of the aerodynamics coefficients are generated from the dataset collected with CFD analysis. The obtained simplified aerodynamic model is also used to improve the flying robot control design. We present two control strategies: compensating for the aerodynamic effects via feedback linearization and enforcing the controller robustness with gain-scheduling. Simulation results on the jet-powered humanoid robot iRonCub validate the proposed approach.
