The nonplanar hex-rotor unmanned aerial vehicle ( UAV) has much higher driving property, greater payload capacity and damage tolerance than quad-rotor UAV. It is difficult to design a high performance controller of easy engineering implementation for strongly coupled nonlinear hex-rotor UAV system. In response to this practical problem, an adaptive trajectory tracking control based on characteristic model for nonplanar hex-rotor is studied. Firstly, the dynamic model for the hex-rotor UAV is devised. Secondly, according to dynamic characteristics, environmental characteristics and control performance requirements, the characteristic model of the hex-rotor UAV is constructed. Then, based on the characteristic model, a golden section adaptive controller is designed to realize trajectory tracking. Furthermore, the stability analysis of the closed loop hex-rotor system is given. Finally, the validity of the proposed trajectory tracking control method adopted in the nonplanar hex- rotor UAV is demonstrated via numerical simulations and hex-rotor prototype experiments.

Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,P.R.China

[1]PENG Cheng;QIAO Guanyu;CAI Lihua-.Trajectory tracking control of characteristic model for nonplanar hex-rotor UAV)[J].高技术通讯（英文版）,2022(04):440-450

nonplanar

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