Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

المؤلفون المشاركون

Yang, Zhong
Zhang, Qiang
Yang, Chengshun
Huang, Xiaoning
Li, Shaobin

المصدر

Mathematical Problems in Engineering

العدد

المجلد 2013، العدد 2013 (31 ديسمبر/كانون الأول 2013)، ص ص. 1-13، 13ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2013-06-20

دولة النشر

مصر

عدد الصفحات

13

التخصصات الرئيسية

هندسة مدنية

الملخص EN

Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV) is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor.

The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO) is proposed to reconstruct the disturbances of the rotational dynamics.

In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted.

In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop.

In the inner loop, a rapid-convergent nonlinear differentiator (RCND) is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid “differential expansion” in the procedure of the attitude controller design.

Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Yang, Chengshun& Yang, Zhong& Huang, Xiaoning& Li, Shaobin& Zhang, Qiang. 2013. Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-13.
https://search.emarefa.net/detail/BIM-1032066

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Yang, Chengshun…[et al.]. Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle. Mathematical Problems in Engineering No. 2013 (2013), pp.1-13.
https://search.emarefa.net/detail/BIM-1032066

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Yang, Chengshun& Yang, Zhong& Huang, Xiaoning& Li, Shaobin& Zhang, Qiang. Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-13.
https://search.emarefa.net/detail/BIM-1032066

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-1032066