Title: Adaptive Altitude Control of a Tethered Multirotor Autogyro under Varying Wind Speeds using Differential Rotor Braking Show Chinese title

Title: 基于差动旋翼制动的变风速下系留多旋翼自转旋翼机自适应高度控制

Abstract: A tethered multirotor autogyro can function as an unmanned aerial vehicle for energy-efficient and prolonged deployment, as it uses the available wind energy to sustain flight. This article presents an adaptive altitude control strategy for such a device. At a constant wind speed, the equilibrium altitude can be approximated by a quadratic function of the pitch angle. The proposed adaptive control estimates the coefficients of this quadratic function. The estimates are used for altitude control and to attain the maximum altitude (and minimum horizontal drift) for a given wind speed. A feedback controller based on regenerative differential rotor braking is used as the actuation to modulate the autogyro's pitch angle. Implementation of the controller using a control-oriented, higher-order dynamic model demonstrates the controller's capability to regulate the altitude and maintain stable flights under varying wind speeds. Based on the system's maximum altitude tracking performance, the adaptive control is adjusted to improve performance under substantial changes in wind speeds. Show Chinese abstract

Abstract: 系留多旋翼自转旋翼机可以作为无人飞行器用于节能和长时间部署，因为它利用可用的风能来维持飞行。 本文提出了一种针对此类装置的自适应高度控制策略。 在恒定风速下，平衡高度可以近似为俯仰角的二次函数。 所提出的自适应控制估计该二次函数的系数。 这些估计用于高度控制，并在给定风速下实现最大高度（和最小水平漂移）。 基于再生差分旋翼制动的反馈控制器用作执行机构，以调节自转旋翼机的俯仰角。 使用面向控制的高阶动态模型实现控制器，展示了控制器在不同风速下调节高度和保持稳定飞行的能力。 基于系统的最大高度跟踪性能，自适应控制被调整以在风速大幅变化时提高性能。