标题： 飞行过程中基于李雅普诺夫的切换姿态控制器的闭环稳定性分析——用于节能的转矩输入选择 显示英文标题

标题： Closed-Loop Stability of a Lyapunov-Based Switching Attitude Controller for Energy-Efficient Torque-Input-Selection During Flight

摘要： 我们提出了一种新的基于李雅普诺夫的切换姿态控制器，用于在飞行过程中为无人飞行器（UAV）选择节能的转矩输入。 该方法使用四元数描述受控UAV的姿态，交换了系统闭环（CL）切换动态中两个固定点（一个局部渐近稳定，另一个不稳定）的稳定性属性。 在此方法中，切换事件由基于复合能量函数的值触发。 为了分析和确保CL切换动态的稳定性，我们结合切换系统理论使用经典非线性李雅普诺夫技术。 为此，我们引入了一个新的复合李雅普诺夫函数（LF），它不仅使我们能够推导出CL渐近和指数稳定的条件，还为我们提供了CL系统吸引域的估计。 这个新的估计值比本文所考虑类型的系统之前报道的要大得多。 为了测试和展示所提出方法的功能性、适用性和性能，我们在执行高速偏航跟踪操作时展示了使用31克四旋翼无人机获得的实验数据并进行了讨论。 此外，我们提供了实验证据，表明这些操作所选择的所有初始条件，据估计，都位于系统的吸引域内。 最后，通过这些飞行测试获得的实验数据显示，当执行特定类型的高速偏航跟踪操作时，所提出的切换控制器平均减少了约53%的控制努力，与常用的基准控制方案相比。 显示英文摘要

摘要： We present a new Lyapunov-based switching attitude controller for energy-efficient real-time selection of the torque inputted to an uncrewed aerial vehicle (UAV) during flight. The proposed method, using quaternions to describe the attitude of the controlled UAV, interchanges the stability properties of the two fixed points-one locally asymptotically stable and another unstable-of the resulting closed-loop (CL) switching dynamics of the system. In this approach, the switching events are triggered by the value of a compound energy-based function. To analyze and ensure the stability of the CL switching dynamics, we use classical nonlinear Lyapunov techniques, in combination with switching-systems theory. For this purpose, we introduce a new compound Lyapunov function (LF) that not only enables us to derive the conditions for CL asymptotic and exponential stability, but also provides us with an estimate of the CL system's region of attraction. This new estimate is considerably larger than those previously reported for systems of the type considered in this paper. To test and demonstrate the functionality, suitability, and performance of the proposed method, we present and discuss experimental data obtained using a 31-g quadrotor during the execution of high-speed yaw-tracking maneuvers. Also, we provide empirical evidence indicating that all the initial conditions chosen for these maneuvers, as estimated, lie inside the system's region of attraction. Last, experimental data obtained through these flight tests show that the proposed switching controller reduces the control effort by about 53%, on average, with respect to that corresponding to a commonly used benchmark control scheme, when executing a particular type of high-speed yaw-tracking maneuvers.