Trajectory tracking control algorithm for canard-equipped tail-sitting vertical takeoff and landing UAV based on MPCC

被引：0
|
作者：
Cao Y. [1 ,2 ]
Fu H. [1 ]
Gao F. [2 ]
Lyu X. [1 ]
机构：
[1] School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen
[2] College of Control Science and Engineering, Zhejiang University, Hangzhou
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2023年 / 44卷
关键词：
canard layout; MPCC; quadratic programming; tail-sitter UAV; vertical takeoff and landing;
D O I：
10.7527/S1000-6893.2023.29950
中图分类号：
学科分类号：
摘要：
Currently, there is no mature solution for high-speed trajectory tracking control of canard-equipped tail-sitter vertical takeoff and landing Unmanned Aerial Vehicle (UAV). This paper proposes a Model Predictive Contouring Control (MPCC) for achieving trajectory tracking control of the UAV. Given a trajectory segment, this controller predicts and selects optimal states and outputs, allowing the UAV to maximize its flight velocity and minimize its deviation from the trajectory. By adjusting the weight parameters of flight velocity and distance error, the UAV can balance the emphasis between the two aspects to adapt to various flight environments. Additionally, this paper linearizes the optimization problem by transforming it into a convex quadratic programming problem to reduce computation time. Finally, through simulation experiments involving various trajectories, the effectiveness of the algorithm is verified. © 2023 Chinese Society of Astronautics. All rights reserved.
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