Volume 37, Number 1, February 2019
|Page(s)||7 - 12|
|Published online||03 April 2019|
Taxiing Characteristic Analysis and Control for Full-Wing Solar-Powered Unmanned Aerial Vehicle
School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China
2 School and Technology of Unmanned Aerial Vehicle Laboratory, Northwestern Polytechnical University, Xi’an 710065, China
3 School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China
To solve the taxiing control problem of the full-wing solar-powered unmanned aerial vehicle (UAV) without front wheel steering servo and rudder, a control approach using differential propeller thrust to control the taxiing is proposed in this paper. Firstly, the taxiing mathematical models of two kinds of full-wing solar-powered UAVs with the front wheels turning freely or fixed are established. Meanwhile, the taxiing characteristics of full-wing solar-powered UAV in different taxiing speeds are analyzed. Secondly, based on the linear active disturbance rejection control (LADRC) theory, a yaw angle controller is designed by using differential propeller thrust as the control output. Finally, a straight line trajectory tracking scheme which is suitable for take-off and landing taxiing is designed on the base of improved vector field theory. Simulation results show that the designed controller has a good control effect on full-wing solar-powered UAV's take-off and landing taxiing periods, and better robustness.
Key words: full-wing / solar-powered UAV / differential propeller thrust / taxiing control / trajectory tracking / linear active disturbance rejection control (LADRC) / improved vector field theory / design / simulation
关键字 : 全翼布局 / 太阳能无人机 / 螺旋桨动力差动 / 滑跑控制 / 轨迹跟踪 / 线性自抗扰
© 2019 Journal of Northwestern Polytechnical University
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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