Volume 38, Number 4, August 2020
|Page(s)||705 - 714|
|Published online||06 October 2020|
UAV's Precise Trajectory Tracking Control Based on Nonlinear Dynamic Inverse and Quaternions
School of Aeronautics, Northwestern Polytechnial University Xi'an, 710072, China
2 Skyline Technologies, Xi'an, 710072, China
The precise tracking 3D trajectory that changes dramatically within the boundary of flight performance is the essential capability of the UAV applied to air combat, which requires that flight control law design be adapted to nonlinear characteristics of flight dynamics and solve the singularities problem during the flight. Continuous trajectory control on the basis of nonlinear dynamic inversion (NDI) is studied. The singularities problem is caused by continuous trajectory expressed by flight velocity and flight-path angles. A sudden change of flight-path axis system happens when aircraft flies along a continuous trajectory which results in singularities. A method for amending flight-path axis system is presented to solve the sudden change problem of flight-path axis system. Finally, the combination of the maneuver generator based on quaternions and amending flight-path axis system realize the precise trajectory tracking control without singularities and obtain excellent tracking characteristics.
Key words: nonlinear dynamic inversion / maneuver generator / trajectory track / singularities / quaternions
关键字 : 非线性动态逆 / 机动产生器 / 航迹跟踪 / 奇异性 / 四元数
© 2020 Journal of Northwestern Polytechnical University. All rights reserved.
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