| PENG Cheng(彭程),QIAO Guanyu,CAI Lihua.[J].高技术通讯(英文),2022,28(4):440~450 |
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| Trajectory tracking control of characteristic model for nonplanar hex-rotor UAV |
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| DOI：10.3772/j.issn.1006-6748.2022.04.013 |
| 中文关键词: |
| 英文关键词: nonplanar hex-rotor unmanned aerial vehicle (UAV), characteristic model, golden section adaptive controller, stability analysis, trajectory tracking control |
| 基金项目: |
| Author Name | Affiliation | | PENG Cheng(彭程) | (Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, P.R.China) | | QIAO Guanyu | (Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, P.R.China) | | CAI Lihua | (Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, P.R.China) |
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| 中文摘要: |
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| 英文摘要: |
| The nonplanar hex-rotor unmanned aerial vehicle (UAV) has much higher driving property, greater payload capacity and damage tolerance than quad-rotor UAV. It is difficult to design a high performance controller of easy engineering implementation for strongly coupled nonlinear hex-rotor UAV system. In response to this practical problem, an adaptive trajectory tracking control based on characteristic model for nonplanar hex-rotor is studied. Firstly, the dynamic model for the hex-rotor UAV is devised. Secondly, according to dynamic characteristics, environmental characteristics and control performance requirements, the characteristic model of the hex-rotor UAV is constructed. Then, based on the characteristic model, a golden section adaptive controller is designed to realize trajectory tracking. Furthermore, the stability analysis of the closed loop hex-rotor system is given. Finally, the validity of the proposed trajectory tracking control method adopted in the nonplanar hex-rotor UAV is demonstrated via numerical simulations and hex-rotor prototype experiments. |
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