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Guidance and Nonlinear Control System for Autonomous Flight of Minirotorcraft Unmanned Aerial Vehicles

机译：微型旋翼无人机自主飞行制导与非线性控制系统

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摘要

Small unmanned aerial vehicles (UAVs) are becoming popular among researchers and vital platforms for several autonomous mission systems. In this paper, we present the design and development of a miniature autonomous rotorcraft weighing less than 700 g and capable of waypoint navigation, trajectory tracking, visual navigation, precise hovering, and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini- and microrotorcraft, an embedded and inexpensive autopilot was developed. To compensate for the weaknesses of the low-cost equipment, we put our efforts into designing a reliable model-based nonlinear controller that uses an inner-loop outer-loop control scheme. The developed flight controller considers the system's nonlinearities, guarantees the stability of the closed-loop system, and results in a practical controller that is easy to implement and to tune. In addition to controller design and stability analysis, the paper provides information about the overall control architecture and the UAV system integration, including guidance laws, navigation algorithms, control system implementation, and autopilot hardware. The guidance, navigation, and control (GN&C) algorithms were implemented on a miniature quadrotor UAV that has undergone an extensive program of flight tests, resulting in various flight behaviors under autonomous control from takeoff to landing. Experimental results that demonstrate the operation of the GN&C algorithms and the capabilities of our autonomous micro air vehicle are presented.
机译：小型无人飞行器（UAV）在研究人员和一些自动执行任务系统的重要平台中越来越受欢迎。在本文中，我们介绍了重量小于700 g的微型自主旋翼飞机的设计和开发，该微型旋翼飞机能够进行航点导航，轨迹跟踪，视觉导航，精确悬停以及自动起飞和着陆。为了使先进的自主行为可用于微型旋翼机和微型旋翼机，开发了一种嵌入式廉价的自动驾驶仪。为了弥补低成本设备的不足，我们投入了很多精力来设计一种可靠的基于模型的非线性控制器，该控制器使用内环外环控制方案。所开发的飞行控制器考虑了系统的非线性，保证了闭环系统的稳定性，并产生了易于实施和调整的实用控制器。除了控制器设计和稳定性分析之外，本文还提供了有关总体控制架构和无人机系统集成的信息，包括制导律，导航算法，控制系统实现和自动驾驶仪硬件。制导，导航和控制（GN＆C）算法是在微型四旋翼无人机上实施的，该无人机已进行了广泛的飞行测试程序，从而导致了从起飞到着陆的各种飞行行为。实验结果证明了GN＆C算法的运行以及我们的自动微型飞行器的功能。

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  • 来源
    《Journal of robotic systems》 |2010年第3期|p.311-334|共24页
  • 作者

    Farid Kendoul; Zhenyu Yu; Kenzo Nonami;

  • 作者单位

    Robotics and Control Laboratory, Department of Electronics and Mechanical Engineering, Chiba University, Chiba City 263-8522, Japan;

    State Key Laboratory of Rail Traffic Control and Safety, Beijing JiaoTong University, Beijing 100044, China;

    Robotics and Control Laboratory, Department of Electronics and Mechanical Engineering, Chiba University, Chiba City 263-8522, Japan;

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