Modeling and robust trajectory tracking control for a novel six-rotor unmanned aerial vehicle
type: Item
instance of: scholarly article
title: Modeling and robust trajectory tracking control for a novel six-rotor unmanned aerial vehicle
zbMATH Open document ID: 1299.93206
DOI: 10.1155/2013/673525
author: Zhong Yang
author: Xiaoning Huang
author: Shaobin Li
author: Qiang Zhang
author: Cheng-shun Yang
published in: Mathematical Problems in Engineering
publication date: 2014-11-24T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93C95
zbMATH DE Number: 6372906
Wikidata QID: Q59031439
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2013/673525
OpenAlex ID: W2044950016
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description: scientific article; zbMATH DE number 6372906