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Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation
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
发表期刊MATHEMATICAL PROBLEMS IN ENGINEERING
ISSN1024-123X
2014
卷号2014页码:1-8
收录类别SCI ; EI
EI收录号20143900076673
WOS记录号WOS:000340761800001
产权排序1
资助机构National Natural Science Foundation of China [61035005, 61203340]
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标题词Science & Technology ; Technology ; Physical Sciences
WOS类目Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
关键词[WOS]AUTOMATIC DIFFERENTIATION ; HELICOPTER ; VISION
WOS研究方向Engineering ; Mathematics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15266
专题机器人学研究室
通讯作者He YQ(何玉庆)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
He YQ,Zhou YJ,Han JD. Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation[J]. MATHEMATICAL PROBLEMS IN ENGINEERING,2014,2014:1-8.
APA He YQ,Zhou YJ,&Han JD.(2014).Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation.MATHEMATICAL PROBLEMS IN ENGINEERING,2014,1-8.
MLA He YQ,et al."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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