Abstract
In this paper, the flight control problem of hexa-copter is studied in detail from threedimensional trajectory planning to tracking. Then the cubic spline interpolation method is used to generate the trajectory by using these time marked waypoints. The flight trajectory curve produced by this method is smooth, twice differentiable, and it is easy to control implementation. The flight dynamics model of the UAV has the characteristics of multi-input multi-output, strong coupling, under-actuation, severe nonlinearity and external environmental disturbance. In order to improve the accuracy of flight trajectory and the stability of attitude control, a multi-loop sliding mode variable structure control method is proposed to achieve the hexa-copter flight trajectory tracking. The simulation results show that this method can track the predetermined flight trajectory and keep the attitude stability of the UAV normally.
Highlights
The hexa-copter is a kind of multi rotor small-size UAV
The flight trajectory planning of UAV is carried out, and this trajectory is used for tracking control
Because the flight dynamics model of the hexa-copter has the characteristics of serious nonlinearity [2] and external environmental interference [3]
Summary
The hexa-copter is a kind of multi rotor small-size UAV. It has better load capacity, flight stability and motion control performance [1]. The hexa-copter has been more and more applied in the field of aerial photography, logistics and environmental monitoring. The flight control problem of the hexa-copter is focused. Because the flight dynamics model of the hexa-copter has the characteristics of serious nonlinearity [2] and external environmental interference [3]. A multi loop adaptive sliding mode variable structure control method is used to track the flight trajectory
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have