The Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode

In view of the uncertainty of model parameters, the influence of external disturbances and sensor noise on the flight of coaxial rotor aircraft during autonomous flight, a robust backstepping sliding mode control algorithm for the position and attitude feedback control system is studied to solve the...

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Autores principales:	Jiulong Xu, Yongping Hao, Junjie Wang, Lun Li
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	coaxial rotor aircraft backstepping control sliding mode control robustness Motor vehicles. Aeronautics. Astronautics TL1-4050
Acceso en línea:	https://doaj.org/article/c2ba65798b3d4e5bae02461f64229045
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id	oai:doaj.org-article:c2ba65798b3d4e5bae02461f64229045
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spelling	oai:doaj.org-article:c2ba65798b3d4e5bae02461f642290452021-11-25T15:57:37ZThe Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode10.3390/aerospace81103372226-4310https://doaj.org/article/c2ba65798b3d4e5bae02461f642290452021-11-01T00:00:00Zhttps://www.mdpi.com/2226-4310/8/11/337https://doaj.org/toc/2226-4310In view of the uncertainty of model parameters, the influence of external disturbances and sensor noise on the flight of coaxial rotor aircraft during autonomous flight, a robust backstepping sliding mode control algorithm for the position and attitude feedback control system is studied to solve the trajectory tracking problem of an aircraft in the case of unknown external interference. In this study, a non-linear dynamic model based on a disturbed coaxial rotor aircraft was established for an unknown flight. Then, a non-linear robust backstepping sliding mode controller was designed, which was divided into two sub-controllers: the attitude controller and the position controller of the coaxial rotor aircraft. In the controller, virtual control was introduced to construct the Lyapunov function to ensure the stability of each subsystem. The effectiveness of the proposed controller was verified through numerical simulation. Finally, the effectiveness of the backstepping sliding mode control algorithm was verified by flight experiments.Jiulong XuYongping HaoJunjie WangLun LiMDPI AGarticlecoaxial rotor aircraftbackstepping controlsliding mode controlrobustnessMotor vehicles. Aeronautics. AstronauticsTL1-4050ENAerospace, Vol 8, Iss 337, p 337 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	coaxial rotor aircraft backstepping control sliding mode control robustness Motor vehicles. Aeronautics. Astronautics TL1-4050
spellingShingle	coaxial rotor aircraft backstepping control sliding mode control robustness Motor vehicles. Aeronautics. Astronautics TL1-4050 Jiulong Xu Yongping Hao Junjie Wang Lun Li The Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode
description	In view of the uncertainty of model parameters, the influence of external disturbances and sensor noise on the flight of coaxial rotor aircraft during autonomous flight, a robust backstepping sliding mode control algorithm for the position and attitude feedback control system is studied to solve the trajectory tracking problem of an aircraft in the case of unknown external interference. In this study, a non-linear dynamic model based on a disturbed coaxial rotor aircraft was established for an unknown flight. Then, a non-linear robust backstepping sliding mode controller was designed, which was divided into two sub-controllers: the attitude controller and the position controller of the coaxial rotor aircraft. In the controller, virtual control was introduced to construct the Lyapunov function to ensure the stability of each subsystem. The effectiveness of the proposed controller was verified through numerical simulation. Finally, the effectiveness of the backstepping sliding mode control algorithm was verified by flight experiments.
format	article
author	Jiulong Xu Yongping Hao Junjie Wang Lun Li
author_facet	Jiulong Xu Yongping Hao Junjie Wang Lun Li
author_sort	Jiulong Xu
title	The Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode
title_short	The Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode
title_full	The Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode
title_fullStr	The Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode
title_full_unstemmed	The Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode
title_sort	control algorithm and experimentation of coaxial rotor aircraft trajectory tracking based on backstepping sliding mode
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/c2ba65798b3d4e5bae02461f64229045
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_version_	1718413404847210496

The Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode

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