Design and Analysis of High-Speed Unmanned Aerial Vehicle Ground Directional Rectifying Control System

  • Yin, Qiaozhi (State Key Laboratory of Mechanics and Control of Mechanical Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics) ;
  • Nie, Hong (State Key Laboratory of Mechanics and Control of Mechanical Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics) ;
  • Wei, Xiaohui (State Key Laboratory of Mechanics and Control of Mechanical Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics) ;
  • Xu, Kui (State Key Laboratory of Mechanics and Control of Mechanical Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics)
  • Received : 2016.07.29
  • Accepted : 2017.12.14
  • Published : 2017.12.30


The full nonlinear equations of an unmanned aerial vehicle ground taxiing mathematical dynamic model are built based on a type of unmanned aerial vehicle data in LMS Virtual.Lab Motion. The flexible landing gear model is considered to make the aircraft ground motion more accurate. The electric braking control system is established in MATLAB/Simulink and the experiment of it verifies that the electric braking model with the pressure sensor is fitted well with the actual braking mechanism and it ensures the braking response speediness. The direction rectification control law combining the differential brake and the rudder with 30% anti-skid brake is built to improve the directional stability. Two other rectifying control laws are demonstrated to compare with the designed control law to verify that the designed control is of high directional stability and high braking efficiency. The lateral displacement increases by 445.45% with poor rectification performance under the only rudder rectifying control relative to the designed control law. The braking distance rises by 36m and the braking frequency increases by 85.71% under the control law without anti-skid brake. Different landing conditions are simulated to verify the good robustness of the designed rectifying control.


Supported by : National Natural Science Foundation of China, Nanjing University of Aeronautics and Astronautics, Central Universities


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