Trajectory Tracking Control for a Hexacopter UAV: A Constraint-Following Approach Guaranteeing Prescribed Performance Hunan University, College of Mechanical and Vehicle Engineer

Format:

Book

Conference/Event

Author/Creator:

Wang, Ningning, author.

Contributor:

Li, Xiang

Yin, Hui

Conference Name:

SAE 2024 Intelligent Urban Air Mobility Symposium (2024-09-06 : Hangzhou, China)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2024

Summary:

The development of low-altitude economy driven by aircraft has garnered significant attention from both academia and industry. The hexacopter unmanned aerial vehicle (UAV) is an important component of low-altitude aircraft. Although it has not been as widely used as the quadcopter UAV, the greater delivery capacity and enhanced fault tolerance sustain its promising development prospects. However, the trajectory tracking control, a fundamental task of hexacopter UAV, remains challenging if the control algorithm is required to work on the dynamics level with theoretical performance guarantees, since its position control has to be realized by its attitude control. This study proposes a novel trajectory tracking control with prescribed performance for the hexacopter UAV that works on the dynamic model. The proposed approach is established by a dual-loop constraint-following control with the state-transformation technique, where equality and inequality constraints are used to describe the tracking task and the prescribed performance, respectively. The effectiveness of the proposed control is endorsed by rigorous theoretical analysis and simulations

Notes:

Vendor supplied data

Publisher Number:

2024-01-7013

Access Restriction:

Restricted for use by site license