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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)
Department机器人学研究室
Source PublicationMATHEMATICAL PROBLEMS IN ENGINEERING
ISSN1024-123X
2014
Volume2014Pages:1-8
Indexed BySCI ; EI
EI Accession number20143900076673
WOS IDWOS:000340761800001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China [61035005, 61203340]
KeywordAutomatic Differentiation Helicopter Vision
AbstractAutonomous 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.
Language英语
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
WOS SubjectEngineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
WOS KeywordAUTOMATIC DIFFERENTIATION ; HELICOPTER ; VISION
WOS Research AreaEngineering ; Mathematics
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15266
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
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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