Abstract Control strategy of sideslip perching maneuver under dynamic stall influence
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Control strategy of sideslip perching maneuver under dynamic stall influence

机译：动态失速影响下侧滑栖息操纵的控制策略

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AbstractThis paper presents a sliding control strategy for executing a sideslip perching maneuver under dynamic stall influence. Perching is a type of aggressive maneuver performed by the avian species to acquire rapid deceleration, which is frequently followed by a precision landing. Due to the high turn rates and rapid changes in aerodynamic angles in the three-dimensional domain, robustness to state perturbations and model inaccuracies is mandatory as it is impossible to develop a completely accurate aerodynamic model for perching that involves many dynamic phenomena and different flow regimes. Based on the optimal trajectory solutions generated through an optimization procedure, sliding mode control is proposed to address the need for robust tracking in the nonlinear, unsteady region of flight dynamics with the inclusion of dynamic stall delay. Performance of the controller is validated under different scenarios involving varying initial spatial and state conditions and state perturbations throughout the course of the perching maneuver.
机译： 摘要 本文提出了一种在动态失速影响下执行侧滑栖息操纵的滑动控制策略。栖息是禽类为获得快速减速而进行的一种侵略性机动，其后通常是精确着陆。由于在三维域中的高转弯速率和气动角度的快速变化，对状态扰动和模型误差的鲁棒性是强制性的，因为不可能开发出一种涉及许多动态现象和不同流态的完全精确的气动模型来进行栖息。基于通过优化程序生成的最佳轨迹解，提出了滑模控制，以解决在非线性，非平稳飞行动力学区域中对鲁棒跟踪的需求，其中包括动态失速延迟。控制器的性能在不同的场景下得到了验证，这些场景涉及整个栖息操纵过程中变化的初始空间和状态条件以及状态扰动。

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