基于MPCC的鸭翼尾座式垂直起降无人机轨迹跟踪控制算法

doi:10.7527/S1000-6893.2023.29950

Abstract

Abstract:

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.

Key words: tail-sitter UAV, vertical takeoff and landing, canard layout, MPCC, quadratic programming

CLC Number:

V279

Yuqi CAO, Haoran FU, Fei GAO, Ximin LYU. Trajectory tracking control algorithm for canard⁃equipped tail⁃sitting vertical takeoff and landing UAV based on MPCC[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729950-729950.

Figures/Tables 13

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参数	数值
起飞重量/kg	1.432
巡航速度/（m·s^-1）	12
最大悬停时间/min	25
最大平飞时间/min	80
悬停推重比	2.01
翼展/m	1.2
最大升阻比	10.5
稳定裕度/%	12

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

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