Aerial photography trajectory-tracking controller design for quadrotor UAV
Quad-rotor unmanned aerial vehicles (UAV) are prone to external interference during aerial photography of farmland environments. For example, they are affected by external airflow and load, resulting in route deviation and irregular image overlap, which seriously affects image quality. An aerial tra...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2022-07-01
|
| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940221115634 |
| _version_ | 1811203813217927168 |
|---|---|
| author | Min Xiao Jing Liang Li Ji Zheng Sun ZeYu Li |
| author_facet | Min Xiao Jing Liang Li Ji Zheng Sun ZeYu Li |
| author_sort | Min Xiao |
| collection | DOAJ |
| description | Quad-rotor unmanned aerial vehicles (UAV) are prone to external interference during aerial photography of farmland environments. For example, they are affected by external airflow and load, resulting in route deviation and irregular image overlap, which seriously affects image quality. An aerial trajectory tracking controller is designed for this aerial photography process. To ensure that a drone can fly according to the established route during the aerial photography process and meet the requirements of large-scale topographic map stereo mapping for the flight control accuracy of the drone platform, the system was divided into a full-drive subsystem and an underactuated subsystem. The full-drive subsystem uses a fast terminal sliding mode controller to ensure that the variable ( z , ψ ) reaches the desired value. The under-actuated subsystem adopts the second-order sliding mode control was used to achieve effective position and attitude tracking of variables ( x , y , ϕ , θ ). The flight controllers are derived by using Lyapunov theory. Finally, with the aerial trajectory of a farmland taken as an example, the flight path control of the UAV is simulated. Simulation results show that the designed control system can be applied to the aerial photography process of the UAV and has strong anti-system parameter perturbation, robustness and good trajectory tracking. |
| first_indexed | 2024-04-12T03:01:20Z |
| format | Article |
| id | doaj.art-02fe5e8fba89481f8448817910601213 |
| institution | Directory Open Access Journal |
| issn | 0020-2940 |
| language | English |
| last_indexed | 2024-04-12T03:01:20Z |
| publishDate | 2022-07-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Measurement + Control |
| spelling | doaj.art-02fe5e8fba89481f84488179106012132022-12-22T03:50:38ZengSAGE PublishingMeasurement + Control0020-29402022-07-015510.1177/00202940221115634Aerial photography trajectory-tracking controller design for quadrotor UAVMin Xiao0Jing Liang1Li Ji2Zheng Sun3ZeYu Li4Hubei Engineering Technology Research Center for Farmland Environmental Monitoring, China Three Gorges University, Yichang, ChinaHubei Engineering Technology Research Center for Farmland Environmental Monitoring, China Three Gorges University, Yichang, ChinaCollege of Physical Education, China Three Gorges University, YiChang, ChinaHubei Engineering Technology Research Center for Farmland Environmental Monitoring, China Three Gorges University, Yichang, ChinaHubei Engineering Technology Research Center for Farmland Environmental Monitoring, China Three Gorges University, Yichang, ChinaQuad-rotor unmanned aerial vehicles (UAV) are prone to external interference during aerial photography of farmland environments. For example, they are affected by external airflow and load, resulting in route deviation and irregular image overlap, which seriously affects image quality. An aerial trajectory tracking controller is designed for this aerial photography process. To ensure that a drone can fly according to the established route during the aerial photography process and meet the requirements of large-scale topographic map stereo mapping for the flight control accuracy of the drone platform, the system was divided into a full-drive subsystem and an underactuated subsystem. The full-drive subsystem uses a fast terminal sliding mode controller to ensure that the variable ( z , ψ ) reaches the desired value. The under-actuated subsystem adopts the second-order sliding mode control was used to achieve effective position and attitude tracking of variables ( x , y , ϕ , θ ). The flight controllers are derived by using Lyapunov theory. Finally, with the aerial trajectory of a farmland taken as an example, the flight path control of the UAV is simulated. Simulation results show that the designed control system can be applied to the aerial photography process of the UAV and has strong anti-system parameter perturbation, robustness and good trajectory tracking.https://doi.org/10.1177/00202940221115634 |
| spellingShingle | Min Xiao Jing Liang Li Ji Zheng Sun ZeYu Li Aerial photography trajectory-tracking controller design for quadrotor UAV Measurement + Control |
| title | Aerial photography trajectory-tracking controller design for quadrotor UAV |
| title_full | Aerial photography trajectory-tracking controller design for quadrotor UAV |
| title_fullStr | Aerial photography trajectory-tracking controller design for quadrotor UAV |
| title_full_unstemmed | Aerial photography trajectory-tracking controller design for quadrotor UAV |
| title_short | Aerial photography trajectory-tracking controller design for quadrotor UAV |
| title_sort | aerial photography trajectory tracking controller design for quadrotor uav |
| url | https://doi.org/10.1177/00202940221115634 |
| work_keys_str_mv | AT minxiao aerialphotographytrajectorytrackingcontrollerdesignforquadrotoruav AT jingliang aerialphotographytrajectorytrackingcontrollerdesignforquadrotoruav AT liji aerialphotographytrajectorytrackingcontrollerdesignforquadrotoruav AT zhengsun aerialphotographytrajectorytrackingcontrollerdesignforquadrotoruav AT zeyuli aerialphotographytrajectorytrackingcontrollerdesignforquadrotoruav |