Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

Abstract

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.

Dynamic modeling and nonlinear tracking control of a novel modified quadrotor

“…A number of modified configurations have been suggested to improve the performance of quadrotors. A hexa‐copter and an octa‐copter with all rotors distributed symmetrically on both sides of the fuselage were proposed. A 4‐rotor configuration that merges the simplicity of a quadrotor with the energy efficiency of a helicopter was also presented .…”

Modeling & Controlling the Dynamics of Tri-rotor UAV Using Robust RST Controller with MRAC Adaptive Algorithm

“…In practical operations, fixed wing. UAVs have been used for years in routine surveillance missions, but they lack the hovering flight capability [3]. Rotor crafts are multi input multi output (MIMO) under actuated systems.…”

Robust Optimal Attitude Controller for MIMO Uncertain Hexarotor MAVs: Disturbance Observer-Based

“…In general, those adaptive controllers could achieve the robust asymptotically tracking performances for the closed-loop system, but the desired robust properties of the controller cannot be specified. Based on sliding mode control (SMC) method, the new developed and higher order SMC schemes were proposed in [21][22][23][24] to deal with parametric uncertainties and external disturbances. In [21], the SMC is driven by sliding mode disturbance observer to provide robustness against external disturbances and uncertainties while [24] has proposed a second-order sliding mode observer to reconstruct disturbances.…”

“…Based on sliding mode control (SMC) method, the new developed and higher order SMC schemes were proposed in [21][22][23][24] to deal with parametric uncertainties and external disturbances. In [21], the SMC is driven by sliding mode disturbance observer to provide robustness against external disturbances and uncertainties while [24] has proposed a second-order sliding mode observer to reconstruct disturbances. In [22,23], the use of higher order sliding mode control and adequate controller tuning was developed to decrease the chattering phenomenon encountered with SMC approach.…”