Taxiing Characteristic Analysis and Control for Full-Wing Solar-Powered Unmanned Aerial Vehicle

被引：3
|
作者：
Ma Z. [1 ,2 ]
Zhu X. [2 ]
Zhou Z. [3 ]
机构：
[1] School of Astronautics, Northwestern Polytechnical University, Xi'an
[2] School and Technology of Unmanned Aerial Vehicle Laboratory, Northwestern Polytechnical University, Xi'an
[3] School of Aeronautics, Northwestern Polytechnical University, Xi'an
来源：
Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University | 2019年 / 37卷 / 01期
关键词：
Design; Differential propeller thrust; Full-wing; Improved vector field theory; Linear active disturbance rejection control (LADRC); Simulation; Solar-powered UAV; Taxiing control; Trajectory tracking;
D O I：
10.1051/jnwpu/20193710007
中图分类号：
学科分类号：
摘要：
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. © 2019 Journal of Northwestern Polytechnical University.
引用
收藏
页码：7 / 12
页数：5
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