Design and control of deformable quadrotor with varying length arms

作     者：SUN YiChong XIE MingNa LI YeHui NG WingYin ZHANG Heng LI Zheng SUN YiChong;XIE MingNa;LI YeHui;NG WingYin;ZHANG Heng;LI Zheng

作者机构：Multi-Scale Medical Robotics CentreThe Chinese University of Hong KongHong Kong 999077China Department of SurgeryThe Chinese University of Hong KongHong Kong 999077China Department of Electrical and Electronic EngineeringThe University of Hong KongHong Kong 999077China College of Optoelectronic EngineeringChongqing UniversityChongqing 400044China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2023年第66卷第5期

页      面：1225-1234页

核心收录：

学科分类：08[工学] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：supported by Hong Kong RGC General Research Fund(Grant Nos.14203019,14202820,and 14214322) the International Science and Technology Cooperation Project of Guangzhou Economic and Technological Development District(Grant No.2020B1212070022)。 

主　　题：deformable quadrotor mechanics and control LPV systems switched control strategy specialized aerial system 

摘      要：Deformable quadrotors can manipulate their specific structure for specialized tasks or excellent flight performance under diverse conditions.With added deformation mechanism,the quadrotor exhibits higher flexibility;however,this is accompanied by difficulties in modeling analysis and controller design,which are crucial issues.Here,a novel deformable quadrotor that can alter its arm s length is designed by combining the crank-slider mechanism and cross-configuration.The dynamics,including the attitude and position systems,are analyzed and the former is further described as switched linear parameter varying(SLPV)systems from a control-oriented perspective.In addition,a combined SLPV/proportion-integration-differentiation(PID)attitude controller is developed to handle different deformable quadrotor modes,which guarantees the stability of the closed-loop attitude system during the deformation process and achieves attitude tracking.Furthermore,together with the cascade PID position controller,the entire flight controller is constructed whose feasibility is verified via fixed-point hovering and trajectory tracking experiments.