类Samara飞行器的曲线跟踪控制
Curve-Tracking Control of Samara-Like Aircraft

Samara飞行器是洛克希德·马丁公司在枫树种子的启发下研发的一款单桨旋翼机，它具有体积小、重量轻、气动效率高和隐蔽性强的特点。但是Samara飞行器的控制依赖于独立的视觉跟踪系统，该系统无法机载且价格昂贵，所以对Samara的研究一直处于实验室阶段。本课题组在此背景下，自行设计并制造了一款类Samara飞行器。它摒弃了Samara的视觉传感系统，使用普通民用的传感器和飞控板来进行控制。本文针对类Samara飞行器的曲线跟踪问题，提出了一种基于控制的建模方案，给出了曲线跟踪控制律。仿真结果表明，所设计的跟踪控制律能够使类Samara飞行器以较高的精度跟踪预设轨迹曲线。
The Samara aircraft is a single-propeller rotorcraft developed by Lockheed Martin inspired by maple seeds. It has the characteristics of small size, light weight, high aerodynamic efficiency and strong concealment. But the control of the Samara vehicle relies on an independent visual tracking system, which cannot be airborne and is expensive, so research on Samara has been in the laboratory stage. Under this background, our research group designed and manufactured a Samara-like aircraft. It abandoned Samara’s visual sensing system and used ordinary civilian sensors and flight control boards for control. In this paper, a control-based modeling scheme is proposed for the curve tracking problem of Samara-like aircraft, and the curve tracking control law is given. The simulation results show that the designed tracking control law can make the Samara-like aircraft track the preset trajectory curve with high precision.