TY - JOUR
T1 - Lateral deviation correction control for flying-wing UAV taxiing
AU - Wang, Yanxiong
AU - Zhou, Zhou
AU - Shao, Zhuang
AU - Zhu, Xiaoping
N1 - Publisher Copyright:
© 2016, Editorial Board of Journal of Northwestern Polytechnical University. All right reserved.
PY - 2016/8/1
Y1 - 2016/8/1
N2 - 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.
AB - 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.
KW - Active disturbance rejection control
KW - Angular velocity
KW - Complex control
KW - Disturbance rejection
KW - Flying-wing
KW - Lateral deviation correction control
KW - Pseudo-inverse method
KW - Unmanned aerial vehicle
UR - http://www.scopus.com/inward/record.url?scp=84982851386&partnerID=8YFLogxK
M3 - 文章
AN - SCOPUS:84982851386
SN - 1000-2758
VL - 34
SP - 593
EP - 601
JO - Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
JF - Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
IS - 4
ER -