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首页> 外文会议>International Conference on Control, Decision and Information Technologies >Nonlinear Attitude Control Design and Verification for a Safe Flight of a Small-Scale Unmanned Helicopter
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Nonlinear Attitude Control Design and Verification for a Safe Flight of a Small-Scale Unmanned Helicopter

机译：小型无人直升机安全飞行的非线性姿态控制设计与验证

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Autonomous small unmanned helicopter systems have been widely studied in the last decades. These systems are extremely agile due to their energy efficiency, overall costs and high levels of maneuverability compared to manned helicopters. This allows them to be used in urban environments for different applications such as search and rescue, aerial stunts for movie industry, fire fighting, surveillance, etc. Such applications require the control system to be robust and safe since a fault may lead to environmental damage and endangering human life. For reasons of the very high safety requirements, in this paper we propose a robust control design and also introduce formal verification of control for small-scale unmanned helicopters. The controller proposed is based on dynamic inversion control for a 3-DOF (degree-of-freedom) attitude dynamics while taking into account the system modelling uncertainty with variable payloads and external disturbances of wind. An invariant set called control-enabled-set is defined for flight envelope, which represents the dynamical state vectors comprised of the attitude and rotation rates, for which the stable control of the craft is feasible with our control scheme. Then the controller is verified using formal methods represented by MetiTarski automated theorem prover to ensure controller stability and robustness. Our approach also paves the way to the possibility that the autopilot system monitors whether it is getting near the boundary of its flight envelope, in which case it can propose or plan and execute an emergency landing to a safe location.
机译：在过去的几十年中，自治小型无人直升机系统得到了广泛的研究。与有人驾驶的直升机相比，这些系统的能源效率，总体成本和高水平的机动性使其极为灵活。这使得它们可以在城市环境中用于不同的应用，例如搜索和救援，电影业的空中特技，消防，监视等。由于故障可能会导致环境破坏，因此此类应用要求控制系统坚固且安全。危害人类生命由于对安全性有很高的要求，在本文中，我们提出了一种鲁棒的控制设计，并且还介绍了对小型无人直升机的控制的形式验证。所提出的控制器基于针对3自由度（DOF）姿态动力学的动态反演控制，同时考虑了具有可变有效载荷和风的外部干扰的系统建模不确定性。为飞行包线定义了一个不变的集合，称为控制使能集合，它表示由姿态和旋转速度组成的动力学状态向量，对于这些飞行器，通过我们的控制方案可以实现对飞机的稳定控制。然后使用MetiTarski自动化定理证明者代表的形式方法对控制器进行验证，以确保控制器的稳定性和鲁棒性。我们的方法还为自动驾驶系统监视其是否接近其飞行包线的边界铺平了道路，在这种情况下，它可以建议或计划并执行紧急降落到安全的位置。

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