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Journal of Projectiles, Rockets, Missiles and Guidance >

2021 , Vol. 41 >Issue 1: 48 - 52

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2021.01.011

Deviation Control of Unmanned Aerial Vehicles Based on L1 Method

  • JIA Wei 1 ,
  • SUN Zhepeng 1 ,
  • WU Yusheng 2 ,
  • GAO Antong 3
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  • 1 No. 365 Institute, Northwestern Polytechnical University,Xi’an 710065,China
  • 2 No. 32204 Unit, Shaanxi Huayin 714200,China
  • 3 Army Equipment Department Equipment Technical Cooperation Centre,Beijing 100036,China

Received date: 2019-12-06

  Online published: 2025-02-11

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Abstract

In this paper, a deviation control scheme for the unmanned aerial vehicle (UAV) with the rudder and front wheel is proposed, and a UAV ground model is established, where the compression characteristics of landing gears and the side-off characteristics of tires are involved. Based on the UAV ground model, a parameter-varying cascade control scheme is further designed considering the different motion characteristics of UAVs at different speeds and the requirements of the smooth. The simulation results show that the model built is reasonable and practical, and that compared with the traditional PID method, the designed control scheme performs almost the same as it in reference following and better than it in disturbance rejection.

Key words： unmanned aerial vehicle; ground slide model; deviation control

Cite this article

JIA Wei , SUN Zhepeng , WU Yusheng , GAO Antong . Deviation Control of Unmanned Aerial Vehicles Based on L1 Method[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2021 , 41(1) : 48 -52 . DOI: 10.15892/j.cnki.djzdxb.2021.01.011

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