scholarly journals Autonomous Trajectory Tracking Control for a Large-Scale Unmanned Helicopter under Airflow Influence

2019 ◽  
Vol 2019 ◽  
pp. 1-15
Author(s):  
Zhi Chen ◽  
Xiaowei Tu ◽  
Qinghua Yang ◽  
Daobo Wang ◽  
Jian Fu
Keyword(s):  
Tracking Control ◽  
Large Scale ◽  
Sliding Mode ◽  
Hierarchical Control ◽  
Hardware In The Loop ◽  
Wind Disturbance ◽  
Unmanned Helicopter ◽  
Trajectory Tracking Control ◽  
Practical Engineering ◽  
The Stability

In this paper, a complete nonlinear dynamic unmanned helicopter model considering wind disturbance is proposed to achieve realistic simulations and teasing out the effect of wind on the control system. The wind velocity vector which is horizontal as seen in the inertial frame can be obtained by subtracting the airspeed measured by atmospheric data computer from the inertial speed measured by GPS. The design of the controller fully considers the existence of wind, and the wind disturbance is suppressed by the method of hierarchical control combined with the integral sliding mode control (SMC). The stability proof is given. Hardware in the loop (HIL) tool is employed as a practical engineering solution, and it is an essential step in validating the new algorithm before moving to real flight experiments.

scholarly journals Analysis of Intrinsic Mechanistic of Stability-Tracking Control for Distributed Drive Autonomous Electric Vehicle

Electronics ◽  
2021 ◽  
Vol 10 (23) ◽  
pp. 3010
Author(s):  
Xuequan Tang ◽  
Yunbing Yan ◽  
Baohua Wang ◽  
Xiaowei Xu ◽  
Lin Zhang
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Hierarchical Control ◽  
Control Process ◽  
Stability Control ◽  
Lateral Stability ◽  
Trajectory Tracking Control ◽  
Obvious Effect ◽  
Target Trajectory ◽  
The Stability

For distributed drive autonomous vehicles, adding lateral stability control (LSC) to the trajectory tracking control (TTC) can optimize the distribution of the driving torque of each wheel, so that the vehicle can track the planned trajectory while maintaining stable lateral motion. However, the influence of adding LSC on the TTC system is still unclear. Firstly, a stability-track hierarchical control structure composed of LSC and TTC was established, and the interaction between the two layers was identified as the key of this paper. Then, the Intrinsic Mechanistic framework of the stability-tracking control (STC) was proposed by establishing and analyzing the vehicle dynamic model and control process of two layers. Finally, through simulation experiments, it was found that the change in the curvature of the target trajectory will make the tracking target trajectory and maintaining the lateral stability of the vehicle appear to conflict; in addition, in the LSC layer, the steering characteristics and delay characteristics of different reference models have a greater impact on the lateral stability and trajectory tracking performance; moreover, adjusting the preview time has a more obvious effect on trajectory tracking and lateral stability than the stability correction intensity coefficient.

Sign in / Sign up

Export Citation Format

Share Document