Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle
Joint Authors
Yang, Zhong
Zhang, Qiang
Yang, Chengshun
Huang, Xiaoning
Li, Shaobin
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-06-20
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1032066