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Reduced-Attitude Control of Fixed-Wing Unmanned Aerial Vehicles Using Geometric Methods on the Two-Sphere ?

机译：使用几何方法在双球上使用几何方法的减少姿态控制 ？

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摘要

As an alternative to reduced-attitude control of fixed-wing unmanned aerial vehicles using roll and pitch angles, we propose to use a global representation that evolves on the two-sphere. The representation of reduced attitude is invariant to rotations about the inertial gravity axis, which makes it well suited for banked turn maneuvers. With the relative airspeed viewed as an exogenous input, a nonlinear controller for almost semiglobal exponential tracking of reduced attitude is presented. For the regulation case, asymptotic convergence is almost global, and the relationship to a classical approach using Euler angles is established. In addition to being singularity-free, a benefit of the presented approach is that the proportional action is pointed along the shortest direction on the sphere. The performance of the controller is demonstrated in numerical simulations.
机译：作为使用辊和俯仰角度的固定翼无人驾驶飞行器减少姿态控制的替代方案，我们建议使用在双球上演变的全局表示。减少姿态的表示不变于围绕惯性重力轴的旋转，这使得它们适用于银行转动的操作。随着相对空速被视为外源性输入，提出了一种用于几乎半球形指数跟踪的非线性控制器的减少姿态。对于调节情况，渐近收敛几乎是全局的，建立了使用欧拉角度的古典方法的关系。除了自由的奇点之外，所提出的方法的好处是比例动作沿球体上的最短方向指向。在数值模拟中展示了控制器的性能。

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