Hex-Rotor unmanned aerial vehicle controller and its flight experiment under aerodynamic disturbance

	Hex-Rotor unmanned aerial vehicle controller and its flight experiment under aerodynamic disturbance
	Zhao, C.-J.; Y. Bai; X. Gong; C. Peng; D.-F. Xu and Z.-J. Xu
	2015
发表期刊	Guangxue Jingmi Gongcheng/Optics and Precision Engineering
卷号	23 期号:4 页码:1088-1095
摘要	The downside effects of airflow disturbance and rotor interference on the control accuracy and control effect of a unmanned aerial vehicle were analyzed and the method to solve the problems mentioned above was given. A dynamic model for the Hex-Rotor aircraft was established, and the reasons that control quality of aircraft was declined by the fluctuation of lift factors were analyzed. An inversion sliding mode controller was designed to control the space 6-DOF channels, meanwhile a nonlinear supercoiled observer was proposed based on the nondetermination of lift factors to estimate the lift factor of every rotor and to overcome the pneumatic disturbance. A prototype was taken to verify the proposed method. The experiment results indicate that the horizontal tracking errors are limited in 4.5 m with the altitude error of 2.5 m and attitude errors of 2 in a large inflow environment. The method effectively estimates the lift factor of every rotor and improves the control precision and effect of the Hex-Rotor aircraft. , 2015, Chinese Academy of Sciences. All right reserved.
文章类型	期刊论文
收录类别	EI
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/56145
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Zhao, C.-J.,Y. Bai,X. Gong,et al. Hex-Rotor unmanned aerial vehicle controller and its flight experiment under aerodynamic disturbance[J]. Guangxue Jingmi Gongcheng/Optics and Precision Engineering,2015,23(4):1088-1095.
APA	Zhao, C.-J.,Y. Bai,X. Gong,C. Peng,&D.-F. Xu and Z.-J. Xu.(2015).Hex-Rotor unmanned aerial vehicle controller and its flight experiment under aerodynamic disturbance.Guangxue Jingmi Gongcheng/Optics and Precision Engineering,23(4),1088-1095.
MLA	Zhao, C.-J.,et al."Hex-Rotor unmanned aerial vehicle controller and its flight experiment under aerodynamic disturbance".Guangxue Jingmi Gongcheng/Optics and Precision Engineering 23.4(2015):1088-1095.

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气动干扰下的Hex-Rotor无人飞行器（326KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览下载