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Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

机译：一种新型六旋翼无人机的建模与鲁棒轨迹跟踪控制

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摘要

Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV) is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor. The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO) is proposed to reconstruct the disturbances of the rotational dynamics. In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted. In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop. In the inner loop, a rapid-convergent nonlinear differentiator (RCND) is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid "differential expansion" in the procedure of the attitude controller design. Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.
机译：一种新型六旋翼无人机（UAV）的建模和轨迹跟踪控制旨在解决诸如四旋翼的有效载荷容量较小，缺乏硬件冗余和抗侧风能力等问题。在牛顿-欧拉形式主义的基础上，建立了六旋翼无人机的数学模型，并提出了二阶滑模扰动观测器（SOSMDO）来重构旋转动力学的扰动。考虑到六旋翼无人机的欠驱动和较强的耦合特性，采用了嵌套的双环轨迹跟踪控制策略。在外环中，设计了位置误差PID控制器，其任务是将所需轨迹与六旋翼无人机的实际位置进行比较，并将所需姿态角输出到内环。在内部回路中，提出了一种快速收敛的非线性微分器（RCND）来计算虚拟控制信号的导数，而不是使用解析微分，以避免姿态控制器设计过程中的“微分展开”。最后，仿真结果证明了所提技术的有效性和有效性。

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  • 来源
    《Mathematical Problems in Engineering》 |2013年第7期|673525.1-673525.13|共13页
  • 作者

    Chengshun Yang; Zhong Yang; Xiaoning Huang; Shaobin Li; Qiang Zhang;

  • 作者单位

    College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;

    College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;

    School of Electric Power Engineering, Nanjing Institute of Technology, Nanjing 211167, China;

    College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;

    College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China,School of Electrical Engineering, University of Jinan, Jinan 250022, China;

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