Research on the Taxiing Control Method of a Small Full-Wing UAV under the Sensor Constraints

In order to solve the problem that the yaw angle measured by the small full-wing UAV during the taxiing process is susceptible and the course angle is unreliable at low speeds, a control approach which uses both yaw angle and course angle to control the taxiing process is proposed.Firstly, a dynamic model of the full-wing UAV during taxiing is established. Secondly, by improving the vector field trajectory tracking method, a linear trajectory tracking method is designed. Finally, based on the active disturbance rejection control method(ADRC), a taxiing direction controller is designed which uses the corrected course angle as the controlled state. Simulation and experimental results show that the designed controller has a good control performance, and can control the full-wing UAV taxiing along the correct trajectory under the condition of inaccurate yaw angle measurement.