Robust cascaded horizontal-plane trajectory tracking for fixed-wing unmanned aerial vehicles |
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| Institution: | 1. School of Mathematics and Computer Science, Yunnan Minzu University, Kunming, China;2. School of Mathematics, Southeast University, Nanjing, China;1. Institute of Automation, Qufu Normal University, Qufu 273165, PR China;2. School of Engineering, Qufu Normal University, Rizhao 276826, PR China;1. Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, PR China;2. Science and Technology on Avionics Integration Laboratory, China National Aeronautical Radio Electronics Research Institute, Shanghai, China, No.432 Gui Ping Road, Xu Hui, Shanghai 200233, PR China |
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| Abstract: | This paper investigates the problem of horizontal-plane trajectory tracking for fixed-wing unmanned aerial vehicles(UAVs) subjected to external disturbances and uncertainties including coupling and unmodeled dynamics. Under the assumption there exist ideal inner-loop controllers, the 12-state model is reduced to a 6-state translational motion model, which is described by a group of simplified nonlinear equations with equivalent disturbances via introducing general aerodynamic models. Then a new cascaded control structure consisting of an outer-loop controller for position control and inner-loop controllers for attitude and thrust control is proposed. Based on feedback linearization technology and signal compensation theory, the proposed controller applied for position control incorporates a nominal linear time-invariant controller and a robust compensator, the latter of which is introduced to restrain the effects of uncertainties and disturbances. The robust performance of the closed-loop system is proved. Actual experimental results conducted on a small fixed-wing aircraft demonstrate that the proposed control approach is effective. |
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