Variable structure and variable coefficient proportional-integral-derivative control to prevent actuator saturation of yaw movement for a coaxial eight-rotor unmanned aerial vehicle

	Variable structure and variable coefficient proportional-integral-derivative control to prevent actuator saturation of yaw movement for a coaxial eight-rotor unmanned aerial vehicle
	Peng, C.; C. C. Zhao; X. Gong; G. Y. Qiao; Y. Bai; D. F. Xu; Q. J. Gao and Y. T. Tian
	2015
发表期刊	Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering
卷号	229 期号:9 页码:1661-1674
摘要	This paper focuses on the development of a coaxial eight-rotor unmanned aerial vehicle (UAV) with higher drive capability, greater payload capacity, and damage tolerance than a quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor is designed. Considering the yaw movement of the eight-rotor is weaker than the pitch movement and the roll movement, a new variable structure and variable coefficient proportional-integral-derivative (VSVCPID) anti-windup method is proposed as the yaw controller to prevent actuator saturation. VSVCPID method is easily implemented in practical engineering and has a strong robustness with conditional anti-windup. Finally, numerical simulations and prototype experiments indoors and outdoors corroborate that VSVCPID applied to the coaxial eight-rotor has accurate yaw control performance and strong robustness against external disturbances.
收录类别	SCI ; EI
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/55444
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Peng, C.,C. C. Zhao,X. Gong,et al. Variable structure and variable coefficient proportional-integral-derivative control to prevent actuator saturation of yaw movement for a coaxial eight-rotor unmanned aerial vehicle[J]. Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering,2015,229(9):1661-1674.
APA	Peng, C..,C. C. Zhao.,X. Gong.,G. Y. Qiao.,Y. Bai.,...&Q. J. Gao and Y. T. Tian.(2015).Variable structure and variable coefficient proportional-integral-derivative control to prevent actuator saturation of yaw movement for a coaxial eight-rotor unmanned aerial vehicle.Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering,229(9),1661-1674.
MLA	Peng, C.,et al."Variable structure and variable coefficient proportional-integral-derivative control to prevent actuator saturation of yaw movement for a coaxial eight-rotor unmanned aerial vehicle".Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering 229.9(2015):1661-1674.

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