外观
论文arXiv 2610.2205713 天前
面向全向倾转旋翼空中机器人的基于 CBF 的控制分配
原文链接：CBF-Based Control Allocation for Omnidirectional Tiltrotor Aerial Robots（arXiv 2610.22057 · 发布日期：2026-10-15）
CBF-Based Control Allocation for Omnidirectional Tiltrotor Aerial Robots
针对倾转空中机器人重构时期望力旋量可能不可行，提出CBF分配器，并在MuJoCo机动仿真中验证。
核心要点
- 主动倾转空中机器人可生成六维力旋量，但舵机响应慢会使重构中的期望力旋量不可行。
- 方法用等效力旋量恒等式和椭球储备收紧推力裕度，构造六变量舵机速率二次规划。
- MuJoCo中与几何、增强差分和归一化差分分配比较，覆盖圆形和侧手翻机动及扰动。
- 所提实现四个记录场景位置误差更低；扰动侧手翻中存储样本均保持期望力旋量可行。
验证范围与局限：验证限于MuJoCo中的圆形与侧手翻机动及采样可行性；名义轨迹证书仍需名义状态和储备覆盖记录。
英文摘要 (Abstract)
Actively tilting aerial robots can generate six-dimensional wrenches, but slow servo response can make a desired wrench infeasible during reconfiguration. This paper develops a control barrier function (CBF) allocator that preserves wrench feasibility under bounded servo-configuration mismatch. An exact equivalent-wrench identity connects the thrust required at nominal and actual configurations. For a nonsingular six-channel allocation map, inverse allocation reduces robust wrench containment to twelve thrust margins tightened by an ellipsoidal reserve. Their complete derivatives yield a six-variable servo-rate quadratic program, followed by differential thrust allocation for tracking. A conditional forward-invariance result establishes actual-configuration feasibility under reserve coverage, feasible initialization, and admissible CBF inputs. A complementary MuJoCo study evaluates a measured-angle implementation against geometric, augmented differential, and normalized differential allocation in circular and cartwheel maneuvers, with and without disturbances. The proposed implementation achieves lower position error in all four recorded scenarios, with an attitude tradeoff in circular tracking. During the disturbed cartwheel, the desired wrench is feasible at all 1751 stored samples of continuous rotation; baseline violation rates range from 60.8% to 100%. These comparisons evaluate sampled feasibility; validation of the nominal-trajectory certificate requires nominal-state and reserve-coverage records.
作者：이서범, Hyondong Oh
来源
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