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aerospaceArticleThe Manage Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Primarily based on Backstepping Sliding ModeJiulong Xu 1, , Yongping Hao 1, , , Junjie Wang 1, and Lun LiSchool of Gear Engineering, Shenyang Ligong University, Shenyang 110159, China; [email protected] (J.X.); [email protected] (J.W.) School of Info and Control, Weifang University, Weifang 261061, China; [email protected] Correspondence: [email protected] Existing Address: No.6, Nanping Central Road, Hunnan New District, Shenyang 110168, China.Citation: Xu, J.; Hao, Y.; Wang, J.; Li, L. The Manage Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Primarily based on Backstepping Sliding Mode. Aerospace 2021, 8, 337. https://doi.org/ 10.3390/aerospace8110337 Academic Editor: Jacopo Serafini Received: eight October 2021 Accepted: 4 November 2021 Published: 9 NovemberAbstract: In view on the uncertainty of model parameters, the influence of external disturbances and sensor noise around the flight of coaxial rotor aircraft for the duration of autonomous flight, a robust backstepping sliding mode handle algorithm for the position and attitude feedback manage method is studied to solve the trajectory tracking problem of an aircraft in the case of unknown external interference. In this study, a non-linear dynamic model primarily based on a disturbed coaxial rotor aircraft was MCC950 Inhibitor established for an unknown flight. Then, a non-linear robust backstepping sliding mode controller was created, which was divided into two sub-controllers: the attitude controller along with the position controller on the coaxial rotor aircraft. In the controller, virtual control was introduced to construct the Lyapunov function to ensure the stability of every single subsystem. The effectiveness on the proposed controller was verified by means of numerical simulation. Ultimately, the effectiveness in the backstepping sliding mode manage algorithm was verified by flight experiments. Keyword phrases: coaxial rotor aircraft; backstepping control; sliding mode manage; robustness1. Introduction In current years, using the development of embedded electronic technologies and sensor technology, the research and improvement of unmanned aerial automobiles (UAVs) has turn into a hot topic. Within the subsequent couple of years, low-cost autonomous navigation UAV systems will develop into a brand new tool for civil and military applications. Rotor UAVs have lots of positive aspects, like compact structure, smaller size, and hovering ability, and are widely made use of. They are specifically Ethyl Vanillate Fungal appropriate for reconnaissance and attacks in sensitive and uncertain environments. In medical rescues and organic disasters, it is adequate to encounter hard or dangerous areas to utilize these in order to steer clear of casualties and home losses [1,2]. Compared with fixed-wing UAVs, rotor drones have the benefit of hovering at low speeds when performing fixed-point, precise, and detailed missions, and usually do not call for the establishment of dedicated runways or ejection frames, which are far more practical than fixed-wing UAVs. Nonetheless, compared with fixed-wing UAVs, the longer flight time on the rotor UAVs can be a disadvantage and can’t be observed remotely. Through the flight, the concealment is not superior, and also the target is simply exposed. Right after analyzing numerous forms of current rotor unmanned aerial vehicle, it can be proposed that the rotor unmanned aerial veh.
