CN114115322B - Tracking control method of tethered aircraft system - Google Patents
Tracking control method of tethered aircraft system Download PDFInfo
- Publication number
- CN114115322B CN114115322B CN202111536251.8A CN202111536251A CN114115322B CN 114115322 B CN114115322 B CN 114115322B CN 202111536251 A CN202111536251 A CN 202111536251A CN 114115322 B CN114115322 B CN 114115322B
- Authority
- CN
- China
- Prior art keywords
- tethered
- tethered aircraft
- tether
- aircraft
- tension
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 239000011159 matrix material Substances 0.000 claims description 16
- 230000009466 transformation Effects 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 abstract description 8
- 230000010354 integration Effects 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 abstract description 2
- 239000011324 bead Substances 0.000 description 6
- 230000007547 defect Effects 0.000 description 1
- 238000013213 extrapolation Methods 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Tires In General (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention relates to a tracking control method of a tethered aircraft system, which comprises the steps of firstly establishing a tethered aircraft system model, utilizing the non-affine characteristic of an auxiliary integration method to process the system, perfectly avoiding the problem of overlarge higher-order terms caused by a Taylor series expansion method, then utilizing an expanded state observer to estimate the tension and airflow disturbance of a tether, and finally adopting a backstepping method to design a tracking controller of the tethered aircraft, so as to ensure that the tethered aircraft can accurately track an expected track. The invention establishes a dynamic model of the tethered aircraft system by utilizing the Newton method, and independent unknown tension items of the tethered aircraft system and atmospheric turbulence, thereby facilitating the design of the next observer; the tension of the tether and the atmospheric turbulence are estimated by using the extended state observer, so that the problems of inaccurate measurement of the tension sensor and unknown atmospheric turbulence are solved; the tracking controller is designed by combining a back-stepping method and an auxiliary integration method aiming at the non-affine characteristic problem of the tethered aircraft system, so that the accurate tracking capability of the tethered aircraft is ensured.
Description
Technical Field
The invention belongs to the field of tethered aircrafts, and relates to a tracking control method of a tethered aircrafts system.
Background
The tethered aerial vehicle system consists of a main aerial vehicle, a tether and a tethered aerial vehicle, wherein the tethered aerial vehicle has no active power, and the main aerial vehicle is used for towing the tethered aerial vehicle to fly through the tether. The related art tethered aircraft systems are widely used in soft autonomous airborne fueling, towed baits, tethered towing targets, and other aerospace tasks. However, due to the complex flow fields and the effects of the tethering, the motion of tethered aerial vehicles becomes very complex and extremely prone to instability. Therefore, it is very necessary to study the active control technology of tethered aircrafts.
The tethered aircraft system model has non-affine characteristics, which presents great difficulty to the design of the controller, and most control methods use taylor series expansion to convert the non-affine form into affine form. However, the large range of motion of tethered aircraft can result in excessive high order terms of the taylor series expansion, which can have a significant impact on the accuracy of the controller design. Therefore, the invention provides a tracking control method of the tethered aircraft system based on an auxiliary integration method in consideration of the large-range motion of the tethered aircraft and the non-affine characteristic of the system, and ensures the accurate tracking capability of the tethered aircraft.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a tracking control method of a tethered aircraft system, which aims at the problem of accurate tracking control of the tethered aircraft system under the conditions of large-range movement of the tethered aircraft and unknown tether tension.
Technical proposal
A method of tracking control of a tethered aircraft system, characterized by: the tethered aircraft of the tethered aircraft system does not roll, the main aircraft flies at a constant speed in a straight line, and the main aircraft is only influenced by atmospheric turbulence in the flying process, and the tracking control steps are as follows:
the tethered aircraft dynamics equation is:
wherein l is the distance from the connection point of the tether and the primary aerial vehicle to the center of mass of the tethered aerial vehicle; beta r Is x r Axis and x g z g An included angle of the planes; alpha r Is x r The axis is x g z g Projection of plane and x g An included angle of the shaft;
respectively is l, alpha r 、β r 、/>
Rate of change over time; m is tethered aircraftQuality; g is gravity acceleration; f (F) d Aerodynamic force at O for tethered aircraft b x b y b z b Is a projection of (2); t (T) 1 Tension of tether to tethered aerial vehicle at O 1 x 1 y 1 z 1 Is a projection of (2); s is S b_g Is O b x b y b z b To O g x g y g z g Is a transformation matrix of (a); s is S g_r Is O g x g y g z g To O r x r y r z r Is a transformation matrix of (a); s is S 1_g Is O 1 x 1 y 1 z 1 To O g x g y g z g Is a transformation matrix of (a);
the tether tension is:
wherein E is the Young's modulus of the tether; a is the cross-sectional area of the tether; η is the natural length of the tether;
the attitude kinematic equation is:
wherein, psi, theta and gamma are attitude angles of the tethered aircraft, which are respectively called yaw angle, pitch angle and roll angle;
the change rates of psi, theta and gamma with respect to time are respectively shown; omega x 、ω y 、ω z Respectively tethered aircraft relative O g x g y g z g At a rotational angular velocity of O b x b y b z b The lower component;
the attitude kinetic equation is:
wherein I is x 、I y 、I z Respectively tethered aircraft wind x b 、y b 、z b The moment of inertia of the shaft;
omega respectively x 、ω y 、ω z Rate of change with respect to time; m is M t,x 、M t,y 、M t,z 、M d,x 、M d,y 、M d,z The aerodynamic moment and the tension moment respectively borne by the tethered aircraft are x b 、y b 、z b Projection of the axis;
after finishing, the steps are as follows:
in the method, in the process of the invention,
n 2 、n 4,y 、n 4,z is the influence of atmospheric turbulence on tethered aircrafts;
respectively T n First and second derivatives of (a);
in the method, in the process of the invention,
is x i Is used for estimating the vector of the vector; />
Is R i Is used for estimating the vector of the vector; q (Q) 2 ＝g 2 +f 2 ,Q 4 ＝g 4 u+f 4 ；κ 1,i ,κ 2,i Gain for observer; fal (·) is a nonlinear function;
in the method, in the process of the invention,
is a normal number diagonal matrix;
and (3) realizing tracking control of the tethered aircraft system by using the controller designed in the step (3).
Advantageous effects
The tracking control method of the tethered aircraft system provided by the invention has the advantages that firstly, a tethered aircraft system model is established, the non-affine characteristic of the system is processed by utilizing an auxiliary integration method, the problem of overlarge higher-order terms caused by a Taylor series expansion method is perfectly avoided, then, the tension and airflow disturbance of a tether are estimated by utilizing an expanded state observer, and finally, a tracking controller of the tethered aircraft is designed by adopting a backstepping method, so that the tethered aircraft can accurately track an expected track.
The invention establishes a tethered aircraft system model aiming at the problem of accurate tracking control of a tethered aircraft system under the conditions of large-range movement of the tethered aircraft and unknown tether tension, then estimates the unknown tether tension and atmospheric turbulence by using an extended state observer, and finally designs a tracking control method of the tethered aircraft by using a back-stepping method and an auxiliary integration method. Compared with the existing research, the method has the following advantages:
1. establishing a dynamic model of the tethered aircraft system by utilizing a Newton method, and independently separating an unknown tethered tension item and atmospheric turbulence, so that the design of a next observer is facilitated;
2. the tension of the tether and the atmospheric turbulence are estimated by using the extended state observer, so that the problems of inaccurate measurement of the tension sensor and unknown atmospheric turbulence are solved;
3. the tracking controller is designed by combining a back-stepping method and an auxiliary integration method aiming at the non-affine characteristic problem of the tethered aircraft system, so that the accurate tracking capability of the tethered aircraft is ensured.
Drawings
Fig. 1: tethered aircraft system schematic
1 is a main aircraft, 2 is a nacelle, 3 is a tether, and 4 is a tethered aircraft
Fig. 2: turbulence of the atmosphere
Ordinate v x 、v y 、v z The components of the velocity of the atmospheric turbulence in the x, y and z axes respectively
Fig. 3: tethered aircraft tracking trajectory graph
The ordinate x, y, z are the components of the desired track and the tracking track in the x-axis, y-axis, z-axis respectively, wherein the black curve is the desired track and the red solid line is the tracking track. Tethered aircraft can track desired trajectories well under the influence of atmospheric turbulence.
Detailed Description
The invention will now be further described with reference to examples, figures:
step 1: kinetic model establishment
The tether model adopts a bead model, the bead model is composed of a limited number of smooth cylindrical rigid rods, and the rods are connected by friction-free beads. The relevant literature on the bead model of the tether is numerous and will not be repeated here, the invention only introducing a kinetic model of the tethered aerial vehicle.
Considering the complexity of tethered aircraft systems, the following assumptions are made:
suppose 1. Tethered aerial vehicle is free of roll;
suppose 2. The main aircraft flies at a constant speed in a straight line;
suppose 3, the flight is affected only by atmospheric turbulence.
Main aircraft track coordinate system O g x g y g z g : the point of attachment of the primary aerial vehicle to the tether is at origin of coordinates O g The coordinate system is fixedly connected with the main aircraft, x g The axis being parallel to but opposite to the direction of the main aircraft flight speed, z g The axis comprises x g In the vertical plane of the axis, with x g The axis is vertical and faces upwards, y g The axis is directed to the right of the main aircraft. Since the main aircraft flies straight, O g x g y g z g Can be considered as an inertial system.
Tether coordinate system O r x r y r z r : the point of attachment of the primary aerial vehicle to the tether is at origin of coordinates O r ，x r Axis is directed to the center of mass, z, of the tethered aerial vehicle r The axis comprises x r In the vertical plane of the axis, with x r The axis is vertical and faces upwards, y r The shaft is directed to the right of the tether.
Tension coordinate system O 1 x 1 y 1 z 1 : assuming that the tether is divided into n segments, the end connected to the tethered aerial vehicle is the first segment, and the point of connection of the tether to the tethered aerial vehicle is the first bead. Origin of coordinates O 1 Is positioned at the second bead point, the coordinate system is fixedly connected with the first section of tether, x 1 The axis being directed at the point of attachment of the tether to the tethered aerial vehicle, z 1 The axis comprises x 1 In the vertical plane of the axis, with x 1 The axis is vertical and faces upwards, y 1 The shaft is directed to the right of the tether.
Tethered aircraft body coordinate system O b x b y b z b : the barycenter of the tethered aircraft is the origin of coordinates O b The coordinate system is fixedly connected with the tethered aircraft, and x is b The axis pointing towards the rear, z, parallel to the design axis of the tethered aerial vehicle b The axis is in the symmetry plane of the tethered aircraft and is equal to x b The axis is vertical and pointing above the tethered aerial vehicle, y b The axis is directed to the right of the tethered aerial vehicle.
The tethered aircraft dynamics equation is:
wherein l is the distance from the connection point of the tether and the primary aerial vehicle to the center of mass of the tethered aerial vehicle; beta r Is x r Axis and x g z g An included angle of the planes; alpha r Is x r The axis is x g z g Projection of plane and x g An included angle of the shaft;
respectively is l, alpha r 、β r 、/>
Rate of change over time; m is the mass of the tethered aerial vehicle; g is gravity acceleration; f (F) d Aerodynamic force at O for tethered aircraft b x b y b z b Is a projection of (2); t (T) 1 Tension of tether to tethered aerial vehicle at O 1 x 1 y 1 z 1 Is a projection of (2); s is S b_g Is O b x b y b z b To O g x g y g z g Is a transformation matrix of (a); s is S g_r Is O g x g y g z g To O r x r y r z r Is a transformation matrix of (a); s is S 1_g Is O 1 x 1 y 1 z 1 To O g x g y g z g Is used for the transformation matrix of the (a).
The tether tension is:
wherein E is the Young's modulus of the tether; a is the cross-sectional area of the tether; η is the natural length of the tether.
Because of the tether-to-tether aircraft tension T 1 Is not measurable, and the tether tension T to the primary aerial vehicle n Is provided by a reel device. Wherein T is 1 And T n Is the tension on a tether, and is only different in value due to the characteristics of the tether, so T can be obtained by constructing the following formula 1 And T n The relation between:
T 1 ＝T n +Δ (3)
wherein delta is T due to tether property 1 And T n Is the difference between (1); t (T) 1 ＝[T 1 0 0] T ；T n ＝[T n 0 0] T ；Δ＝[Δ 0 0] T 。
The attitude kinematic equation is:
wherein, psi, theta and gamma are attitude angles of the tethered aircraft, which are respectively called yaw angle, pitch angle and roll angle;
the change rates of psi, theta and gamma with respect to time are respectively shown; omega x 、ω y 、ω z Respectively tethered aircraft relative O g x g y g z g At a rotational angular velocity of (2)O b x b y b z b The lower component.
The attitude kinetic equation is:
wherein I is x 、I y 、I z Respectively tethered aircraft wind x b 、y b 、z b The moment of inertia of the shaft;
omega respectively x 、ω y 、ω z Rate of change with respect to time; m is M t,x 、M t,y 、M t,z 、M d,x 、M d,y 、M d,z The aerodynamic moment and the tension moment respectively borne by the tethered aircraft are x b 、y b 、z b Projection of the axis.
Aerodynamic forces and aerodynamic moments of the tethered aircraft are u, alpha, beta, psi,
Function of v:
F d ＝F(α,β,v) (6)
wherein F is d 、M d Is O b x b y b z b Aerodynamic and aerodynamic moments experienced by the tethered aircraft; alpha and beta are attack angle and sideslip angle of the tethered aircraft respectively; u is the control quantity of the actuator; v is the velocity of the tethered aerial vehicle relative to air.
From hypothesis 1, it can be considered that γ≡0, ω x ≈0。
To facilitate controller design, the collation dynamics equations (1), (4) and (5) are:
in the method, in the process of the invention,
Step 2: observer design
To obtain R 2 ,R 4 Is estimated using the extended state observer theory:
in the method, in the process of the invention,
is x i Is used for estimating the vector of the vector; />
Is R i Is used for estimating the vector of the vector; q (Q) 2 ＝g 2 +f 2 ,Q 4 ＝g 4 u+f 4 ；κ 1,i ,κ 2,i Gain for observer; fal (·) is a nonlinear function.
Step 3: controller design
Unlike the standard back-extrapolation method, the following coordinate transformations are employed herein:
wherein x is d To be the desired track, a 1 、a 2 、a 3 Virtual control laws for the 1 st, 2 nd and 3 rd subsystems, respectively.
The first step:
in the method, in the process of the invention,
is the derivative of (-).
Selecting a virtual control law as follows:
in the method, in the process of the invention,
is a normal number diagonal matrix.
According to (11) and (12), there are:
in the ( T Is the transpose of (-).
And a second step of:
selecting a virtual control law as follows:
in the method, in the process of the invention,
is a normal number diagonal matrix.
According to (14) and (15), there are:
and a third step of:
in the method, in the process of the invention,
is the partial derivative of (-) versus (-).
Selecting a virtual control law as follows:
in the method, in the process of the invention,
for a normal number diagonal matrix, (. Cndot.) -1 Is the inverse of (-).
According to (17) and (18), there are:
fourth step:
the actual control law is selected as follows:
in the method, in the process of the invention,
is a normal number diagonal matrix.
Stability analysis
According to (20) and (21), there are:
the following Lyapunov function is selected:
deriving (23) and combining (13), (16), (19) and (22) to obtain:
wherein ρ=min {2λ min (c 1 ),2λ min (c 2 -0.5I),2λ min (c 3 -0.5I),2λ min (c 4 -0.5I)}；λ min (. Cndot.) represents the minimum eigenvalue of the matrix ();
integrating the two edges [0, t ] of (24) to obtain:
as can be seen from (25), the system gradually converges as the control input is (21).
Claims (1)
1. A method of tracking control of a tethered aircraft system, characterized by: the tethered aircraft of the tethered aircraft system does not roll, the main aircraft flies at a constant speed in a straight line, and the main aircraft is only influenced by atmospheric turbulence in the flying process, and the tracking control steps are as follows:
step 1, establishing a dynamics model:
the tethered aircraft dynamics equation is:
wherein l is the distance from the connection point of the tether and the primary aerial vehicle to the center of mass of the tethered aerial vehicle; beta r Is x r Axis and x g z g An included angle of the planes; alpha r Is x r The axis is x g z g Projection of plane and x g An included angle of the shaft;
respectively is l, alpha r 、β r 、
Rate of change over time; m is the mass of the tethered aerial vehicle; g is gravity acceleration; f (F) d Aerodynamic force at O for tethered aircraft b x b y b z b Is a projection of (2); t (T) 1 Tension of tether to tethered aerial vehicle at O 1 x 1 y 1 z 1 Is a projection of (2); s is S b_g Is O b x b y b z b To O g x g y g z g Is a transformation matrix of (a); s is S g_r Is O g x g y g z g To O r x r y r z r Is a transformation matrix of (a); s is S 1_g Is O 1 x 1 y 1 z 1 To O g x g y g z g Is a transformation matrix of (a);
the tether tension is:
wherein E is the Young's modulus of the tether; a is the cross-sectional area of the tether; η is the natural length of the tether;
the attitude kinematic equation is:
wherein, psi, theta and gamma are attitude angles of the tethered aircraft, which are respectively called yaw angle, pitch angle and roll angle;
the change rates of psi, theta and gamma with respect to time are respectively shown; omega x 、ω y 、ω z Respectively tethered aircraft relative O g x g y g z g At a rotational angular velocity of O b x b y b z b The lower component;
the attitude kinetic equation is:
wherein I is x 、I y 、I z Respectively tethered aircraft wind x b 、y b 、z b The moment of inertia of the shaft;
omega respectively x 、ω y 、ω z Rate of change with respect to time; m is M t,x 、M t,y 、M t,z 、M d,x 、M d,y 、M d,z The aerodynamic moment and the tension moment respectively borne by the tethered aircraft are x b 、y b 、z b Projection of the axis;
after finishing, the steps are as follows:
in the method, in the process of the invention,
n 2 、n 4,y 、n 4,z is the influence of atmospheric turbulence on tethered aircrafts;
respectively T n First and second derivatives of (a);
step 2, observer design:
in the method, in the process of the invention,
is x i Is used for estimating the vector of the vector; />
Is R i Is used for estimating the vector of the vector; q (Q) 2 ＝g 2 +f 2 ,Q 4 ＝g 4 u+f 4 ；κ 1,i ,κ 2,i Gain for observer; fal (·) is a nonlinear function;
step 3, designing a controller:
in the method, in the process of the invention,
is a normal number diagonal matrix;
and (3) realizing tracking control of the tethered aircraft system by using the controller designed in the step (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111536251.8A CN114115322B (en) | 2021-12-15 | 2021-12-15 | Tracking control method of tethered aircraft system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111536251.8A CN114115322B (en) | 2021-12-15 | 2021-12-15 | Tracking control method of tethered aircraft system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114115322A CN114115322A (en) | 2022-03-01 |
| CN114115322B true CN114115322B (en) | 2023-06-30 |
Family
ID=80365580
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111536251.8A Active CN114115322B (en) | 2021-12-15 | 2021-12-15 | Tracking control method of tethered aircraft system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114115322B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109062042A (en) * | 2018-08-01 | 2018-12-21 | 吉林大学 | A kind of finite time Track In Track control method of rotor craft |
| WO2019085834A1 (en) * | 2017-11-01 | 2019-05-09 | 华南理工大学 | Method for controlling steady flight of unmanned aircraft |
-
2021
- 2021-12-15 CN CN202111536251.8A patent/CN114115322B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019085834A1 (en) * | 2017-11-01 | 2019-05-09 | 华南理工大学 | Method for controlling steady flight of unmanned aircraft |
| CN109062042A (en) * | 2018-08-01 | 2018-12-21 | 吉林大学 | A kind of finite time Track In Track control method of rotor craft |
Non-Patent Citations (1)
| Title |
|---|
| 空间飞行器动力学与控制研究综述;刘付成;朱东方;黄静;;上海航天(第02期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114115322A (en) | 2022-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110377045B (en) | Aircraft full-profile control method based on anti-interference technology | |
| CN109828602B (en) | Track loop nonlinear model transformation method based on observation compensation technology | |
| CN109703768B (en) | Soft air refueling docking method based on attitude/trajectory composite control | |
| CN109703769B (en) | Air refueling docking control method based on preview strategy | |
| Mao et al. | A survey of the dynamics and control of aircraft during aerial refueling | |
| CN106527128B (en) | Take into account the Flight Control Law design method of transient response and robust stability | |
| CN110908288A (en) | Unmanned aerial vehicle ground speed constraint disturbance rejection control method based on obstacle Lyapunov function | |
| CN112327926A (en) | Self-adaptive sliding mode control method for unmanned aerial vehicle formation | |
| Hansen et al. | Induced moment effects of formation flight using two F/A-18 aircraft | |
| CN107678442B (en) | Dual-model-based four-rotor autonomous landing control method | |
| CN115097856A (en) | Target tracking dynamic feedback control method for quad-rotor unmanned aerial vehicle based on navigation vector field | |
| CN109634110B (en) | Tailstock type unmanned aerial vehicle transition section robust control method based on nonlinear disturbance observer | |
| Enomoto et al. | Guidance and control system design for chase UAV | |
| Watanabe et al. | Modeling and simulation of nonlinear dynamics of a powered paraglider | |
| CN114115322B (en) | Tracking control method of tethered aircraft system | |
| CN111158240B (en) | Pose sliding mode control method of aerial rapid yaw capture device | |
| Le Bras et al. | Nonlinear image-based visual servo controller for automatic landing guidance of a fixed-wing aircraft | |
| CN117008626A (en) | Accurate route tracking guiding control method of unpowered parachute-wing unmanned aerial vehicle in wind field | |
| Sun et al. | Accurate homing of parafoil delivery systems based glide-ratio control | |
| Wu et al. | Modeling of small UAV parachute recovery system based on Lagrangian method | |
| Khoo et al. | Robust control of novel thrust vectored 3D printed multicopter | |
| Wang et al. | L1 adaptive neural network controller for autonomous aerial refueling with guaranteed transient performance | |
| CN114265420B (en) | Guidance control integrated design method suitable for high dynamic and slow response control | |
| Barfield et al. | An equivalent model for UAV automated aerial refueling research | |
| Yao et al. | Trajectory tracking controller based on PID-NLADRC |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |