Abstract
The traditional design method of ground taxiing control law and parameters are mainly determined by plenty of ground taxiing tests, which have long cycles, high costs and high risks. This article develops a high-confidence UAV ground taxiing nonlinear model based on the kinematics and dynamics equations and wind tunnel test data for a flying wing UAV. Also, the differential brake control law is designed, and has been successfully applied in ground taxiing tests. The test results show that the control law which is based on the ground taxiing model works well, and the track deviation is controlled within 1 m, which greatly reduces the test risk and reduces the number of ground taxiing tests by more than 70%.
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Zhang, J. (2022). Design and Application of Ground Taxiing Control Law for a Type of Flying Wing UAV. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_267
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DOI: https://doi.org/10.1007/978-981-15-8155-7_267
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