Designing a stable and robust flight control system for an Unmanned Aerial Vehicle(UAV)is an arduous task.This paper addresses the trajectory tracking control problem of a Ducted Fan UAV(DFUAV)using offset-free Model ...Designing a stable and robust flight control system for an Unmanned Aerial Vehicle(UAV)is an arduous task.This paper addresses the trajectory tracking control problem of a Ducted Fan UAV(DFUAV)using offset-free Model Predictive Control(MPC)technique in the presence of various uncertainties and external disturbances.The designed strategy aims to ensure adequate flight robustness and stability while overcoming the effects of time delays,parametric uncertainties,and disturbances.The six degrees of freedom DFUAV model is divided into three flight modes based on its airspeed,namely the hover,transition,and cruise mode.The Dryden wind turbulence is applied to the DFUAV in the linear and angular velocity component.Moreover,different uncertainties such as parametric,time delays in state and input,are introduced in translational and rotational components.From the previous work,the Linear Quadratic Tracker with Integrator(LQTI)is used for comparison to corroborate the performance of the designed controller.Simulations are computed to investigate the control performance for the aforementioned modes and different flight phases including the autonomous flight to validate the performance of the designed strategy.Finally,discussions are provided to demonstrate the effectiveness of the given methodology.展开更多
基金co-supported by the National Natural Science Foundation of China(Nos.61225015,61105092,61422102,and 61703040)the Beijing Natural Science Foundation,China(No.4161001)the China Postdoctoral Science Foundation(No.2017M620640)。
文摘Designing a stable and robust flight control system for an Unmanned Aerial Vehicle(UAV)is an arduous task.This paper addresses the trajectory tracking control problem of a Ducted Fan UAV(DFUAV)using offset-free Model Predictive Control(MPC)technique in the presence of various uncertainties and external disturbances.The designed strategy aims to ensure adequate flight robustness and stability while overcoming the effects of time delays,parametric uncertainties,and disturbances.The six degrees of freedom DFUAV model is divided into three flight modes based on its airspeed,namely the hover,transition,and cruise mode.The Dryden wind turbulence is applied to the DFUAV in the linear and angular velocity component.Moreover,different uncertainties such as parametric,time delays in state and input,are introduced in translational and rotational components.From the previous work,the Linear Quadratic Tracker with Integrator(LQTI)is used for comparison to corroborate the performance of the designed controller.Simulations are computed to investigate the control performance for the aforementioned modes and different flight phases including the autonomous flight to validate the performance of the designed strategy.Finally,discussions are provided to demonstrate the effectiveness of the given methodology.
