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Design and control of deformable quadrotor with varying length arms

Science China(Technological Sciences) 2023年第5期66卷 1225-1234页

作者： SUN YiChong XIE MingNa LI YeHui NG WingYin ZHANG Heng LI Zheng Multi-Scale Medical Robotics Centre The Chinese University of Hong KongHong Kong 999077China Department of Surgery The Chinese University of Hong KongHong Kong 999077China Department of Electrical and Electronic Engineering The University of Hong KongHong Kong 999077China College of Optoelectronic Engineering Chongqing UniversityChongqing 400044China

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.

关键词： deformable quadrotor mechanics and control LPV systems switched control strategy specialized aerial system

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