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.
| 投稿的翻译标题 | Taxiing Characteristic Analysis and Control for Full-Wing Solar-Powered Unmanned Aerial Vehicle |
|---|---|
| 源语言 | 繁体中文 |
| 页（从-至） | 7-12 |
| 页数 | 6 |
| 期刊 | Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University |
| 卷 | 37 |
| 期 | 1 |
| DOI | |
| 出版状态 | 已出版 - 1 2月 2019 |
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