Modeling and Simulation of Quadrotor UAV with Vector Thrust Based on Backstepping

doi:10.16182/j.issn1004731x.joss.18-0686

Abstract

Abstract: Combined with characteristics of the traditional quadrotor and the quad tilt-wing UAV, a quadrotor UAV with the vector thrust (VTQ) is proposed. This UAV has the ability of vertical take-off and landing and hovering, as well as the high maneuverability of the traditional quad tilt-wing UAV. It has the ability of completing the diversified tasks by being specified the desired yaw angle and pitch angle. Control system adopts the method of the layered design. The upper layer is the position control system, the lower layer is the attitude control system, and the control laws are both designed by the backstepping theory. The simulation results show the designed control system is reliable and effective, and the VTQ can carry out the planned maneuver quickly and accurately.

Key words: vector thrust, quadrotors, dynamic model, backstepping control

CLC Number:

V249

Zhou Nan, Wang Liang, Ai Jianliang. Modeling and Simulation of Quadrotor UAV with Vector Thrust Based on Backstepping[J]. Journal of System Simulation, 2020, 32(6): 1117-1125.

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