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题名: Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation
作者: He YQ(何玉庆) ; Zhou YJ(周楹君) ; Han JD(韩建达)
作者部门: 机器人学研究室
关键词: AUTOMATIC DIFFERENTIATION ; HELICOPTER ; VISION
刊名: MATHEMATICAL PROBLEMS IN ENGINEERING
ISSN号: 1024-123X
出版日期: 2014
卷号: 2014, 页码:1-8
收录类别: SCI ; EI
产权排序: 1
摘要: Autonomous maneuvering flight control of rotor-flying robots (RFR) is a challenging problem due to the highly complicated structure of its model and significant uncertainties regarding many aspects of the field. As a consequence, it is difficult in many cases to decide whether or not a flight maneuver trajectory is feasible. It is necessary to conduct an analysis of the flight maneuvering ability of an RFR prior to test flight. Our aim in this paper is to use a numerical method called algorithm differentiation (AD) to solve this problem. The basic idea is to compute the internal state (i.e., attitude angles and angular rates) and input profiles based on predetermined maneuvering trajectory information denoted by the outputs (i.e., positions and yaw angle) and their higher-order derivatives. For this purpose, we first present a model of the RFR system and show that it is flat. We then cast the procedure for obtaining the required state/input based on the desired outputs as a static optimization problem, which is solved using AD and a derivative based optimization algorithm. Finally, we test our proposed method using a flight maneuver trajectory to verify its performance.
语种: 英语
WOS记录号: WOS:000340761800001
WOS标题词: Science & Technology ; Technology ; Physical Sciences
类目[WOS]: Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
关键词[WOS]: AUTOMATIC DIFFERENTIATION ; HELICOPTER ; VISION
研究领域[WOS]: Engineering ; Mathematics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/15266
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
何玉庆; 周楹君; 韩建达.Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation,MATHEMATICAL PROBLEMS IN ENGINEERING,2014,2014():1-8
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文件名: Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation.pdf
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