Indoor Flight Control of Multiple Quadcopters For 3D Trajectory Tracking Using Rotation Matrix

2017 ◽  
Vol 23 (5) ◽  
pp. 363-372
Author(s):  
Jong Tai Jang ◽  
Hyeon Cheol Gong ◽  
Joon Lyou
Keyword(s):  
Flight Control ◽  
Trajectory Tracking ◽  
Rotation Matrix

scholarly journals A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential Geometry

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Yi Zhu ◽  
Xin Chen ◽  
Chuntao Li
Keyword(s):  
Flight Control ◽  
Trajectory Tracking ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Elliptic Cylinder ◽  
Dynamic Equations ◽  
Moving Frame ◽  
Moving Frames ◽  
Tracking Method ◽  
Tracking Process

The problem of UAV trajectory tracking is a difficult issue for scholars and engineers, especially when the target curve is a complex curve in the three-dimensional space. In this paper, the coordinate frames during the tracking process are transformed to improve the tracking result. Firstly, the basic concepts of the moving frame are given. Secondly the transfer principles of various moving frames are formulated and the Bishop frame is selected as a final choice for its flexibility. Thirdly, the detailed dynamic equations of the moving frame tracking method are formulated. In simulation, a moving frame of an elliptic cylinder helix is formulated precisely. Then, the devised tracking method on the basis of the dynamic equations is tested in a complete flight control system with 6 DOF nonlinear equations of the UAV. The simulation result shows a satisfactory trajectory tracking performance so that the effectiveness and efficiency of the devised tracking method is proved.

Trajectory Tracking Flight Control of a Tethered Kite Using a Passive Sliding Mode Approach

2022 ◽  
Vol 20 (1) ◽  
pp. 133-140
Author(s):  
Miguel- Angel Zempoalteca-Jimenez ◽  
Rafael Castro-Linares ◽  
Jaime Alvarez-Gallegos
Keyword(s):  
Flight Control ◽  
Trajectory Tracking ◽  
Sliding Mode

Modeling and Adaptive Flight Control for Quadrotor Trajectory Tracking

2018 ◽  
Vol 55 (2) ◽  
pp. 666-681 ◽  
Author(s):  
Hakim Bouadi ◽  
F. Mora-Camino
Keyword(s):  
Flight Control ◽  
Trajectory Tracking ◽  
Adaptive Flight Control

scholarly journals UAV's Precise Trajectory Tracking Control Based on Nonlinear Dynamic Inverse and Quaternions

2020 ◽  
Vol 38 (4) ◽  
pp. 705-714
Author(s):  
Hongchuan Song ◽  
Hao Zhan ◽  
Lu Xia ◽  
Nan Zhang
Keyword(s):  
Flight Control ◽  
Trajectory Tracking ◽  
Nonlinear Dynamic ◽  
Tracking Control ◽  
Sudden Change ◽  
Flight Path ◽  
Trajectory Tracking Control ◽  
Nonlinear Characteristics ◽  
Dynamic Inverse ◽  
Change Problem

The precise tracking 3D trajectory that changes dramatically within the boundary of flight performance is the essential capability of the UAV applied to air combat, which requires that flight control law design be adapted to nonlinear characteristics of flight dynamics and solve the singularities problem during the flight. Continuous trajectory control on the basis of nonlinear dynamic inversion (NDI) is studied. The singularities problem is caused by continuous trajectory expressed by flight velocity and flight-path angles. A sudden change of flight-path axis system happens when aircraft flies along a continuous trajectory which results in singularities. A method for amending flight-path axis system is presented to solve the sudden change problem of flight-path axis system. Finally, the combination of the maneuver generator based on quaternions and amending flight-path axis system realize the precise trajectory tracking control without singularities and obtain excellent tracking characteristics.

Rotation Matrix Attitude Update Method For 3D Flight Control

2018 ◽  
Vol 24 (6) ◽  
pp. 580-586
Author(s):  
Jong Tai Jang ◽  
Hyeon Cheol Gong ◽  
Joon Lyou
Keyword(s):  
Flight Control ◽  
Rotation Matrix

scholarly journals Attitude Stabilization and Trajectory Tracking Control Strategy for Civil UAV

2018 ◽  
Vol 36 (2) ◽  
pp. 382-387
Author(s):  
Junhong Feng ◽  
Kaijun Xu ◽  
Na Lin
Keyword(s):  
Flight Control ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Large Scale ◽  
Tracking Error ◽  
Scale Model ◽  
System Control ◽  
Trajectory Tracking Control ◽  
Minimization Principle ◽  
Attitude Stabilization

To remove the funitional payload variation, the attitude oscillation and trajectory tracking error of civil UAV in complex environment, a combined inner and outer control strategy for the civil UAV is designed based on the interval system control theory and dynamic tracking error minimization principle, which can guarantee the attitude stabilization in inner loop and the heading tracking in outer loop, thus solving the control effect deterioration and trajectory error drawback of the existing UAV with large scale model variation. The simulation results show that, the proposed combined control strategy can keep flight state's stabilization and effective trajectory tracking with good closed-loop robustness. This study is useful to develop effective and automatic civil UAV system's flight control strategy.

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