Variable structure and variable coefficient proportional-integral-derivative control to prevent actuator saturation of yaw movement for a coaxial eight-rotor unmanned aerial vehicle
文献类型：期刊论文
| 作者 | Peng, C.; C. C. Zhao; X. Gong; G. Y. Qiao; Y. Bai; D. F. Xu; Q. J. Gao and Y. T. Tian |
| 刊名 | Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering
 |
| 出版日期 | 2015 |
| 卷号 | 229期号:9页码:1661-1674 |
| 英文摘要 | This paper focuses on the development of a coaxial eight-rotor unmanned aerial vehicle (UAV) with higher drive capability, greater payload capacity, and damage tolerance than a quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor is designed. Considering the yaw movement of the eight-rotor is weaker than the pitch movement and the roll movement, a new variable structure and variable coefficient proportional-integral-derivative (VSVCPID) anti-windup method is proposed as the yaw controller to prevent actuator saturation. VSVCPID method is easily implemented in practical engineering and has a strong robustness with conditional anti-windup. Finally, numerical simulations and prototype experiments indoors and outdoors corroborate that VSVCPID applied to the coaxial eight-rotor has accurate yaw control performance and strong robustness against external disturbances. |
| 收录类别 | SCI ; EI |
| 源URL | [http://ir.ciomp.ac.cn/handle/181722/55444]  |
| 专题 | 长春光学精密机械与物理研究所_中科院长春光机所知识产出 |
| 推荐引用方式 GB/T 7714 | Peng, C.,C. C. Zhao,X. Gong,et al. Variable structure and variable coefficient proportional-integral-derivative control to prevent actuator saturation of yaw movement for a coaxial eight-rotor unmanned aerial vehicle[J]. Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering,2015,229(9):1661-1674. |
| APA | Peng, C..,C. C. Zhao.,X. Gong.,G. Y. Qiao.,Y. Bai.,...&Q. J. Gao and Y. T. Tian.(2015).Variable structure and variable coefficient proportional-integral-derivative control to prevent actuator saturation of yaw movement for a coaxial eight-rotor unmanned aerial vehicle.Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering,229(9),1661-1674. |
| MLA | Peng, C.,et al."Variable structure and variable coefficient proportional-integral-derivative control to prevent actuator saturation of yaw movement for a coaxial eight-rotor unmanned aerial vehicle".Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering 229.9(2015):1661-1674. |
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