基于四元数法的固定翼微型飞行器姿态控制

Quaternion-Based Attitude Control of Fixed-wing Micro Air Vehicle

由于无人驾驶飞行器更多的参与了单独的具有挑战性的任务,对其飞行时进行敏捷控制已经成为必须;当为飞行器设计控制器来执行某种飞行操作时,最关心问题之一就是选用哪一种姿态描述;四元数描述法具有较少的密集计算并且提供了奇异自由的解决方案以及具有特殊的属性,可以利用它设计简单的、通用的姿态控制器;文章的主要目的是描述一个基于四元数的姿态控制器的设计和实现;该控制器关注固定翼微型飞行器脱耦滚动控制和悬停到水平飞行模式的转换;仿真结果表明了基于四元数的控制方法所设计的控制器能够对飞行器进行有效性的控制并为其提供理想的飞行姿态。

Abstract： As unmanned aerial vehicles become more involved in challenging mission objectives, the need for agility controlled flight be- comes more of a necessity. One of the most recognizable issues when designing a attitude controller to perform flight maneuvers is the con- cern over which attitude descriptor to use. Quaternion descriptors are less computationally intensive, offer a singularity free solution and have special properties that can be exploited for the design of a simple generalized attitude controller. The main objective of this paper is to describe the design and implementation of a quaternion based attitude controller. The controller focuses on decoupled roll control and transitioning of hover to level flight modes of fixed-- wing Micro Air Vehicle. Simulation results show that the controller quaternion-- based is able to control the aircraft effectively and provide the aircraft an ideal flying attitude.