| Issue |
MATEC Web Conf.
Volume 173, 2018
2018 International Conference on Smart Materials, Intelligent Manufacturing and Automation (SMIMA 2018)
|
|
|---|---|---|
| Article Number | 02008 | |
| Number of page(s) | 6 | |
| Section | Automation and Nontraditional Manufacturing | |
| DOI | https://doi.org/10.1051/matecconf/201817302008 | |
| Published online | 19 June 2018 | |
Research on Trajectory Planning and Tracking of Hexa-copter
Chengdu Technological University, Chengdu, China
* Corresponding author: wqyu@cdtu.edu.cn
In this paper, the flight control problem of hexa-copter is studied in detail from threedimensional trajectory planning to tracking. Then the cubic spline interpolation method is used to generate the trajectory by using these time marked waypoints. The flight trajectory curve produced by this method is smooth, twice differentiable, and it is easy to control implementation. The flight dynamics model of the UAV has the characteristics of multi-input multi-output, strong coupling, under-actuation, severe nonlinearity and external environmental disturbance. In order to improve the accuracy of flight trajectory and the stability of attitude control, a multi-loop sliding mode variable structure control method is proposed to achieve the hexa-copter flight trajectory tracking. The simulation results show that this method can track the predetermined flight trajectory and keep the attitude stability of the UAV normally.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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