Research on Taxi Modeling and Taking-Off Control for UAV

UAV automatic take-off and landing safety issue has been one of the key techniques to restrict its development. In this paper, taking a three-wheel UAV for the subject, ground taxiing modeling and control scheme of taxiing taking-off are studied. The control law designing of taxiing lateral deviation correction and longitudinal control law with the elevator are put forward. Lateral control structure adopts the method, combining lateral deviation and lateral velocity, of cooperating the front wheel with rudder, and makes some improvements on the basis of classic PID controller, with the design of fuzzy controller. According to the performance analysis of UAV taxiing, longitudinal control scheme is accomplished, assisted with elevator to complete the controller designing. Simulation results show that the fuzzy controller for large nonlinear systems has better control performance. Also the corrective effect is obvious, and taking-off process is smooth. The taking-off control scheme has some feasibility and rationality.