空力事前情報不要のテールシッターUAV向け協調軌道生成・追従制御
Aerodynamic Prior-Free Coordinated Trajectory Generation and Tracking Control for a Tail-Sitter UAV
機体固有の空力モデルを事前に必要とせず、飛行フェーズごとに空力モデリングを切り替えて軌道生成と追従制御を統合し、テールシッターUAVの全飛行領域で高精度な追従を実現した。
著者: Erchao Rong, Zihao Liu, Junning Liang, Jianguo Wang, Xiao Jie, Haoran Fu, Ziliang Chen, Ximin Lyu
分類: cs.RO
原文アブストラクト
This paper presents a coordinated trajectory generation and tracking control framework for a tail-sitter unmanned aerial vehicle (UAV), which does not require aerodynamic priors identified for a specific airframe while addressing the challenge of flight control under highly nonlinear aerodynamics across the full flight envelope. The core innovation lies in employing phase-specific aerodynamic modeling strategies for planning and tracking, tailored to their distinct functional characteristics, without requiring airframe-specific aerodynamic priors. Specifically, the phi-theory model under coordinated flight is employed to derive an analytic differential flatness mapping, and a simplified but locally accurate model is established for predictive control to enable real-time aerodynamic parameter estimation. The proposed framework is evaluated extensively through both simulation and challenging real-world flight tests under mild wind conditions, showing high-precision tracking and adaptability across the tested aerodynamic conditions. To the best of our knowledge, this is the first real-world demonstration of accurate trajectory tracking over tested flight regimes spanning the full envelope of a tail-sitter UAV without relying on aerodynamic identification campaigns. The source code of our framework is available at: https://github.com/SYSU-HILAB/AP-PnC.