Lateral deviation correction control for flying-wing UAV taxiing

Yanxiong Wang, Zhou Zhou, Zhuang Shao, Xiaoping Zhu

科研成果: 期刊稿件文章同行评审

8 引用 (Scopus)

摘要

Due to good robustness requirement of the control law, and the nonlinearity of six degrees-of-freedom multivariable mathematical model of flying-wing UAV, a nonlinear lateral deviation correction control law based on active disturbance rejection control technique (ADRC) for UAV is proposed. A complex control scheme include front-wheel steering, drag rudder and main-wheel differential braking is used. Due to the efficiencies of lateral deviation correction control actuators vary in a large range during taxing, and drag rudder and braking having ability of both lateral deviation correction and speed reduction, weighted pseudo-inverse method is used to allot yaw moment order and drag order. Antiskid brake control law based on ADRC is designed. The simulated result show that lateral deviation correction control law based on ADRC could estimates and compensates the adverse impact of runway environment and crosswind disturbance. Weighted pseudo-inverse method could allot yaw moment order and drag order dynamically.

源语言英语
页(从-至)593-601
页数9
期刊Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
34
4
出版状态已出版 - 1 8月 2016

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