Dual-loop control of mass-actuated quadrotor UAV considering dynamic characteristics of moving mass

被引：0
|
作者：
Du Q. [1 ]
Jing W. [1 ]
Gao C. [1 ]
An R. [1 ]
机构：
[1] School of Astronautics, Harbin Institute of Technology, Harbin
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2024年 / 50卷 / 03期
基金：
中国国家自然科学基金;
关键词：
dual-loop; dynamic characteristics; dynamic sliding mode; moving mass control; quadrotor UAV;
D O I：
10.13700/j.bh.1001-5965.2022.0350
中图分类号：
学科分类号：
摘要：
The study focuses on the severe attitude jitter brought on by the extra disturbance torque generated by the dynamic properties of the moving mass. It investigates the moving mass parameter design and attitude/servo dual-loop control of the mass-actuated quadrotor UAV. Firstly, the influence of the moving mass introduction on the system is clarified and various additional disturbance torque introduced by dynamic characteristics of the moving mass is given by establishing an eight-degree-of-freedom motion model of mass-actuated quadrotor UAV. Next, in order to lessen the coupling and disturbance of the moving mass to the system, characteristics including the installation position, mass, and various maximum displacements of the moving mass are examined and constructed.Finally, an attitude/servo dual-loop dynamic sliding mode controller is designed with the mass driving force as the control input, and the nonlinear disturbance observer is used to estimate and compensate for the composite disturbance. The results of the simulation demonstrate that the controller has high anti-interference performance and robustness when taking into account the dynamic features of the moving mass. It can also achieve attitude control of the mass-actuated quadrotor UAV. © 2024 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.
引用
收藏
页码：861 / 873
页数：12
相关论文
共 19 条
  • [1] SD A, JR A, AR B, Et al., Configurations, flight mechanisms, and applications of unmanned aerial systems: A review, Progress in Aerospace Sciences, 121, (2020)
  • [2] SHAKHATREH H, SAWALMEH A, AI-FUQAHA A, Et al., Unmanned aerial vehicles: A survey on civil applications and key research challenges, IEEE Access, 7, pp. 48572-48634, (2018)
  • [3] KANISTRAS K, MARTINS G, RUTHERFORD M J, Et al., A survey of unmanned aerial vehicles (UAVs) for traffic monitoring, pp. 8-15, (2015)
  • [4] TB A, JM A, RMA B, Et al., On-board implementation and experimental validation of collaborative transportation of loads with multiple UAVs-science direct, Aerospace Science and Technology, 107, (2020)
  • [5] ARIYIBI S O, TEKINAIP O., Quaternion-based nonlinear attitude control of quadrotor formations carrying a slung load, Aerospace Science and Technology, 105, 14, (2020)
  • [6] VANDANIPOUR M, KHODABANEH M., Adaptive fractional order sliding mode control for a quadrotor with a varying load, Aerospace Science and Technology, 86, pp. 737-747, (2019)
  • [7] TOTOKI H, OCHI Y, SATO M, Et al., Design and testing of a low-order flight control system for quad-tilt-wing UAV, Journal of Guidance, Control, and Dynamics, 39, 10, pp. 2426-2433, (2016)
  • [8] TRAN AT, SAKAMOTO N, SATO M, Et al., Control augmentation system design for quad-tilt-wing unmanned aerial vehicle via robust output regulation method, IEEE Transactions on Aerospace and Electronic Systems, 53, 1, pp. 357-369, (2017)
  • [9] LI K X, ZHANG H L, FAN W H., Prescribed performance control for morphing aerospace vehicle under mismatched disturbances, Acta Aeronautica et Astronautica Sinica, 43, 2, pp. 382-397, (2022)
  • [10] ERTURK S, DASKIRAN O, DOGAN A., Trim analysis of a moving-mass actuated airplane, AIAA Atmospheric Flight Mechanics Conference, (2012)
12