Journal of Jilin University(Engineering and Technology Edition) ›› 2024, Vol. 54 ›› Issue (12): 3699-3710.doi: 10.13229/j.cnki.jdxbgxb.20230176

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Trajectory tracking control method of biplane air vehicle considering model⁃environment uncertainty

Sheng-jie HOU1(),Zhong-lai WANG2(),Peng-peng ZHI3,Hao ZHENG2,Jing XU2   

  1. 1.National Innovation Institute of Defense Technology，Academy of Military Sciences，Beijing 100071，China
    2.School of Mechanical and Electrical Engineering，University of Electronic Science and Technology of China，Chengdu 611731，China
    3.Yangtze Delta Region Institute （Huzhou），University of Electronic Science and Technology of China，Huzhou 313001，China
  • Received:2023-02-28 Online:2024-12-01 Published:2025-01-24
  • Contact: Zhong-lai WANG E-mail:houshengjiework@sina.com;wzhonglai@uestc.edu.cn

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Abstract:

A trajectory tracking control method based on adaptive model predictive control （MPC） was proposed to address the influence of model parameter uncertainty and gust disturbance on the flight trajectory of biplane flapping-wing micro air vehicles （BFMAV） during its task process. Firstly， a six degree of freedom nonlinear dynamic model was built according to the structural characteristics of a BFMAV. Secondly， the internal and external disturbance were introduced to characteristic the model parameter uncertainty and gust disturbance， the state equation of the BFMAV was further determined， and the attitude guidance law was designed to adjust the attitude angle in real-time. Thirdly， a BFMAV trajectory prediction model considering model-environment uncertainty was built by embedding the internal and external disturbance into the MPC model. Finally， different control methods were used to simulate the trajectory tracking states in the free flight and with internal and external disturbances to verify the effectiveness of the proposed method. The results show that the proposed method has stable tracking performance and small tracking error compared with the traditional MPC method. In the case of model uncertainty and external disturbance， the trajectory tracking task of the BFMAV can be completed well.

Key words: biplane flapping-wing micro air vehicle, trajectory tracking, MPC model, adaptive control

CLC Number: 

  • V249.12

Fig.1

Schematic diagram of BFMAV body coordinate system and track coordinate system"

Fig.2

Schematic diagram of BFMAV wing coordinate system"

Fig.3

Schematic diagram of BFMAV steering force"

Fig.4

Schematic diagram of BFMAV expected yaw angle"

Fig.5

Schematic diagram of BFMAV expected pitch angle"

Fig.6

MPC schematic diagram"

Fig.7

BFMAV's adaptive MPC trajectory tracking control system architecture"

Table 1

BFMAV physical parameters"

参数符号描述数值
m总质量/g15.40
Ixx轴转动惯量/（kg·m-2）4.9×10-6
Iyy轴转动惯量/（kg·m-2）4.3×10-6
Izz轴转动惯量/（kg·m-2）1.2×10-6
Ixz相对x轴z轴惯性积/（kg·m-2）5.6×10-7

Fig.8

BFMAV circumferential turning 3D track tracking"

Fig.9

BFMAV trajectory tracking simulation curve"

Fig.10

BFMAV track tracking error curve"

Fig.11

BFMAV trajectory tracking curve considering time-varying disturbance"

Fig.12

BFMAV trajectory tracking error curve considering time-varying disturbance"

Table 2

Comparative analysis of root mean square error of trajectory tracking"

方法

x轴均方根

误差

y轴均方根

误差

z轴均方根

误差

本文0.041 60.074 80.020 2
MPC0.168 70.143 30.079 6
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