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

Authors

Zhou Nan, Department of Aeronautics and Astronautics, Fudan University, Shanghai 200433, China;
Wang Liang, Department of Aeronautics and Astronautics, Fudan University, Shanghai 200433, China;
Jianliang Ai, Department of Aeronautics and Astronautics, Fudan University, Shanghai 200433, China;

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.

Recommended Citation

Nan, Zhou; Liang, Wang; and Ai, Jianliang (2020) "Modeling and Simulation of Quadrotor UAV with Vector Thrust Based on Backstepping," Journal of System Simulation: Vol. 32: Iss. 6, Article 14.
DOI: 10.16182/j.issn1004731x.joss.18-0686
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss6/14

First Page

1117

Revised Date

2019-01-04

DOI Link

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

Last Page

1125

CLC

V249

Recommended Citation

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.

DOI

10.16182/j.issn1004731x.joss.18-0686