Next Article in Journal
Stressing State Analysis of CFST Arch Supports in Deep Roadway Based on NSF Method
Previous Article in Journal
Improving Electric Energy Consumption Prediction Using CNN and Bi-LSTM
Previous Article in Special Issue
Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique
Open AccessArticle

A Lateral-Directional Control Method for High Aspect Ratio Full-Wing UAV and Flight Tests

1
School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China
2
UAV Research Institute, Northwestern Polytechnical University, Xi’an 710065, China
3
School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(20), 4236; https://doi.org/10.3390/app9204236
Received: 20 August 2019 / Revised: 15 September 2019 / Accepted: 18 September 2019 / Published: 10 October 2019
(This article belongs to the Special Issue Unmanned Aerial Vehicles (UAVs))
To solve the lateral-directional control problem of the high aspect ratio full-wing unmanned aerial vehicle (UAV) without an aileron and rudder, a control method is proposed that uses the differential thrust of propellers as the control output and the yaw angle as the controlled attitude angle. Meanwhile, simulation analysis and experimental verification are carried out. First, a lateral-direction mathematical model and a differential thrust of propeller model of the full-wing drone are established. The influence of the aerodynamic derivative C Y β on the lateral-direction mode is analyzed. Second, based on nonlinear dynamic inversion (NDI) and active disturbance rejection control (ADRC) theories, a yaw angle controller that uses the differential thrust of propellers as the control output is designed. Finally, the vector field (VF) method is improved to obtain the straight-line trajectory tracking method satisfying different speeds, and the logic of waypoint switching is given. The research shows that C Y β has a great influence on the dutch roll damping of the drone. For the full-wing configuration, it is feasible to use the yaw angle as the controlled attitude angle without considering the roll angle. The simulation and experimental results show that the designed lateral-directional control method for the high aspect ratio full-wing UAV has a good control effect and disturbance rejection ability. Meanwhile, the control method has less parameters to adjust and less calculation, which is very suitable for engineering applications. View Full-Text
Keywords: high aspect ratio; full-wing; lateral-directional control; without an aileron; differential thrust of propellers; nonlinear dynamic inversion; active disturbance rejection control; vector field path following; flight test high aspect ratio; full-wing; lateral-directional control; without an aileron; differential thrust of propellers; nonlinear dynamic inversion; active disturbance rejection control; vector field path following; flight test
Show Figures

Figure 1

MDPI and ACS Style

Ma, Z.; Zhu, X.; Zhou, Z.; Zou, X.; Zhao, X. A Lateral-Directional Control Method for High Aspect Ratio Full-Wing UAV and Flight Tests. Appl. Sci. 2019, 9, 4236.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop