空中机器人的混合系统建模与优化控制

Hybrid Systems Model and Optimization Control of Aerial Robotics

针对空中机器人(小型无人直升机)非线性系统最优控制求解问题,提出了一种解决方法,该方法基于混合系统建模、降阶,求得系统约束下的状态最大可控不变集,在该集合内通过混合整数二次规划(MIQP)的方法以求得系统的最优控制。最后通过一个实际的样机进行建模、仿真,证明了本方法的可行性与有效性。

To solve the optimization control problem of aerial robotics （small unmanned helicopter） nonlinear system with six degree of freedom（DOF）, this paper proposed a method that models and lower-orders based on hybrid systems, obtains the maximal controlled invariant sets by states constraint, then solves the optimization problem by mixed integer quadratic programming in the sets. Finally, a model is modeled and simulated, the resuit proves the validity and efficiency.