The present work is concerned with the wayset-based guidance of a very general class of fully-actuated multirotor aerial vehicles which can be equipped with fixed or vectorable rotors. The problem is tackled by means of a hierarchical guidance and control framework containing two nested loops. For the outer loop, a guidance strategy based on the nonlinear model predictive control paradigm is proposed. It steers the vehicle through a sequence of position-attitude waysets, while guaranteeing the satisfaction of the control allocation constraints. For the inner loop, a single multi-variable inverse-dynamic force–torque control law is designed to stabilize the translational and rotational dynamics, and an optimal control allocator is formulated, by means of a convex program, to distribute the required control efforts among the available actuators. The asymptotic stability of the inner and outer loop, the recursive feasibility of the guidance algorithm, as well as the feasibility of the control allocator are proved to hold. The proposed method is numerically illustrated with a quadrotor containing two-degrees-of-freedom vectorable rotors and shows to be effective to guide the vehicle while respecting all the rotor constraints.

目前的工作是关于可配备固定或矢量旋翼的一类非常通用的全驱动多旋翼飞行器的基于航路集的制导。该问题通过包含两个嵌套循环的分层指导和控制框架来解决。针对外环，提出了一种基于非线性模型预测控制范式的制导策略。它通过一系列位置-姿态路径集引导车辆，同时保证控制分配约束的满足。对于内环，设计了一个单一的多变量逆动力-力矩控制律来稳定平移和旋转动力学，并通过凸程序制定了一个最优控制分配器，以分配所需的控制力。可用的执行器。证明了内外环的渐近稳定性、引导算法的递归可行性以及控制分配器的可行性。所提出的方法用一个包含两自由度矢量转子的四旋翼进行了数值说明，并显示出在尊重所有转子约束的同时有效地引导车辆。