Trajectory tracking control of characteristic model for nonplanar hex-rotor UAV  

作　　者：PENG Cheng QIAO Guanyu CAI Lihua 彭程;QIAO Guanyu;CAI Lihua(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,P.R.China)

机构地区：[1]Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,P.R.China

出　　处：《High Technology Letters》2022年第4期440-450,共11页高技术通讯（英文版）

基　　金：Supported by the Science and Technology Development Plan Project of Jilin Province(No.20200201294JC)。

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 highperformance controller of easy engineering implementation for strongly coupled nonlinear hex-rotorUAV system.In response to this practical problem,an adaptive trajectory tracking control based oncharacteristic model for nonplanar hex-rotor is studied.Firstly,the dynamic model for the hex-rotorUAV is devised.Secondly,according to dynamic characteristics,environmental characteristics andcontrol 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 realizetrajectory 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.

关 键 词：nonplanar hex-rotor unmanned aerial vehicle(UAV) characteristic model golden section adaptive controller stability analysis trajectory tracking control 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]