Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation
文献类型：期刊论文
| 作者 | He YQ(何玉庆) ; Zhou YJ(周楹君); Han JD(韩建达)
|
| 刊名 | MATHEMATICAL PROBLEMS IN ENGINEERING
 |
| 出版日期 | 2014 |
| 卷号 | 2014页码:1-8 |
| 关键词 | AUTOMATIC DIFFERENTIATION HELICOPTER VISION |
| ISSN号 | 1024-123X |
| 产权排序 | 1 |
| 通讯作者 | 何玉庆 |
| 中文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology ; Physical Sciences |
| 类目[WOS] | Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications |
| 研究领域[WOS] | Engineering ; Mathematics |
| 关键词[WOS] | AUTOMATIC DIFFERENTIATION ; HELICOPTER ; VISION |
| 收录类别 | SCI ; EI |
| 资助信息 | National Natural Science Foundation of China [61035005, 61203340] |
| 语种 | 英语 |
| WOS记录号 | WOS:000340761800001 |
| 公开日期 | 2014-11-03 |
| 源URL | [http://ir.sia.cn/handle/173321/15266]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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