Abstract:

A trajectory tracking control scheme is proposed for a novel six-rotor aircraft. Firstly, the kinematics and dynamics models of the six-rotor aircraft are described. Then, the dynamics model with composite disturbance is also described. Next, a new algorithm for composite disturbance estimate is proposed which is driven by the disturbance error instead of state tracking or prediction errors. Then, the backstepping controllers for the kinematics and dynamics models of the six-rotor aircraft are designed, respectively. In order to improve the system’s rapid response to the commands, a command filter and a linear tracking differentiator are employed in the controller design procedure of the dynamics model. Finally, the correctness and effectiveness of the proposed algorithm for composite disturbance estimate and trajectory tracking scheme are verified through simulation experiments.