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Journal of Projectiles, Rockets, Missiles and Guidance >

2025 , Vol. 45 >Issue 5: 742 - 750

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2025.05.018

Academic article

Anti-Unwinding Fixed-Wing UAV Finite-Time Integrated Pose Control Based on Twistor

  • ZHOU Jiaxing , 1, 2 ,
  • CHEN Wei , 1, 2, * ,
  • GAO Dengwei 3 ,
  • DENG Yifan 4 ,
  • LI Qing 5 ,
  • YU Zicheng 1, 2 ,
  • DENG Zhao 1, 2
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  • 1 School of Electrical Engineering and Automation, Xiamen University of Technology, Xiamen 361024, Fujian, China
  • 2 Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control, Xiamen 361024, Fujian, China
  • 3 Xi’an Modern Control Technology Research Institute, Xi’an 710065,Shanxi, China
  • 4 Faculty of Electronic and Information Engineering, Xi’an Jiaotong University, Xi’an 710075,Shanxi, China
  • 5 School of Astronautics, Northwestern Polytechnical University, Xi’an 710072,Shanxi, China

Received date: 2025-01-17

  Online published: 2025-11-28

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Abstract

The dynamic modeling of fixed-wing unmanned aerial vehicles (UAVs) typically separates the descriptions of position and attitude,leading to complex solving processes and control delays.To address this issue,researchers have proposed unified pose modeling methods.Dual quaternions are commonly used for pose-integrated modeling; however,their attitude description relies on quaternions,which can cause unwinding phenomena when the attitude angles are large,resulting in unnecessary energy consumption and increased control complexity.To avoid unwinding,this paper extends the modified Rodrigues parameters to the dual algebra framework,proposing a twistor description method that offers the advantages of being free from unwinding and parameter redundancy.To improve the convergence speed of the pose-tracking controller for fixed-wing UAVs,a FTSMC based on the pose twistor method is designed.Using the Lyapunov finite-time stability criterion and LaSalle’s invariance principle,it is proven that the controller can achieve convergence within a finite time.Finally,the Links-RT hardware-in-the-loop simulation platform is utilized to verify that the twistor-based modeling method eliminates unwinding phenomena and that the FTSMC exhibits excellent control performance.

Key words： anti-unwinding; twistor; fixed-wing UAV; dual quaternion

Cite this article

ZHOU Jiaxing , CHEN Wei , GAO Dengwei , DENG Yifan , LI Qing , YU Zicheng , DENG Zhao . Anti-Unwinding Fixed-Wing UAV Finite-Time Integrated Pose Control Based on Twistor[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2025 , 45(5) : 742 -750 . DOI: 10.15892/j.cnki.djzdxb.2025.05.018

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