Pose tracking control of fixed-wing unmanned aerial vehicle towards maneuvering flight
YU Huang-chao
CAO Su
PENG Yu-fan
WANG Xiang-ke
Abstract：Autonomous maneuvering flight is becoming one of the important development directions of UAV system technology.Aiming at the need for integrated control of maneuvering flight position and attitude and the characteristics of underactuated fixed-wing UAVs,a method suitable for maneuvering flight of fixed-wing UAVs is proposed.Firstly,the fixed-wing unmanned aerial vehicle's kinematics and dynamics modeling is carried out by using the dual quaternion.Then,a virtual frame method is proposed,and the control moment inputs are mapped to the state equations of unconstrained states.Further,we introduce the nonlinear incremental backstepping method,resulting in the pose tracking controller,which realizes the stable tracking of the twist and the pose.Finally,the feasibility of the proposed controller is verified through numerical simulation and hardware-in-the-loop simulation.
Keywords：fixed wingunmanned aerial vehiclemaneuvering flightflight controldual quaternionintegrated position and attitude control
Publication Date：2023-12-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 2217-2224 )