| Citation: | LI Jiguang, DONG Yanfei, YANG Fang, et al. Takeoff taxiing control of joined-wing UAV based on backstepping method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(3): 496-504. doi: 10.13700/j.bh.1001-5965.2019.0261(in Chinese)
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Small joined-wing UAVs always face the disturbance caused by simple runway conditions and the influence of their own nonlinear factors. The existing control methods do not pay enough attention to the rolling control of the UAV during takeoff taxiing. In order to solve these problems, this paper analyzes the problems faced by the takeoff taxiing and the characteristics of joined-wing layout from the example of a certain type of joined-wing UAV taxiing test, and then designs a joined-wing UAV takeoff taxiing controller based on the backstepping control method. The control method takes full account of the interference caused by the takeoff conditions and the influence of UAV nonlinear factors, and effectively controls the yaw and roll of the UAV's takeoff taxiing. Simulation and UAV taxiing test results show that the proposed design method is effective.
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