The Modeling and Cascade Sliding Mode Control of a Moving Mass Actuated Coaxial Dual-Rotor UAV
Wang Siling, Ji Sichen, Kun Yan, Yang Min Zhou · Research Square · 2022
Abstract In this paper, a three-track moving mass control mechanism-based attitude control scheme is proposed to address the problems of overcomplicated rotor components and low reliability of the coaxial dual-rotor UAV. The motion and aerodynamic models of the moving mass-actuated ducted coaxial dual-rotor UAV are derived. The rotation dynamic characteristics of a Moving Mass-Actuated UAV (MAUAV) with different slider positions and mass ratios are analyzed. Aiming at the MAUAV rotation’s nonlinearity and uncertainty, the attitude controller based on Backstepping Sliding Mode Control (BSMC) is designed. On that basis, we developed the position controller using Cascade Sliding Mode Control (CSMC). The simulation results demonstrate that the designed attitude controller had a fast response speed and a small steady-state error in the attitude tracking experiment. Additionally, the designed position controller had a better trajectory tracking effect under different levels of gust disturbance compared with the Linear Quadratic Regulator (LQR) control-based position controller.