Ects the flight state.3 two 1 0 -1 -2 -Desired Position true PositionX /mTime
Ects the flight state.three two 1 0 -1 -2 -Desired Position true PositionX /mTime/s40 30 20 ten 0 -10 -20 -30 0 5Desired Position C2 Ceramide Technical Information Response PositionY/mTime/s35 30 25 20 15 ten 5Desired Position True PositionZ/mTime/s(a)0.5 0.four 0.three 0.2 0.1 0.0 -0.1 0 five 10Desired Attitude True Attitude(b)URoll/radra /s d U220 200 180 160 0 five 10Time/sra d x0.20 0.15 0.10 0.05 0.00 -0.05 -0.ten -0.Desired Attitude Genuine AttitudeYaw/radra /s d LTime/sTime/sL230 220 210 200 190 180 0 5Time/sx0.5 0.0 -0.Preferred Attitude Real Attitude0.five 0.four 0.3 0.2 0.1 0.0 -0.1 0 five 10-1.0 1.five 1.Time/syPitch/radra d y0.five 0.0 -0.five -1.Time/sTime/s(c)(d)Figure 5. Analysis chart with disturbance. (a) Three-dimensional trajectory tracking; (b) anticipated and actual position reFigure 5. Evaluation chart with disturbance. (a) Three-dimensional trajectory tracking; (b) expected and actual position responses; (c) anticipated and actual attitude response diagrams; (d) virtual handle input. sponses; (c) expected and actual attitude response diagrams; (d) virtual handle input.five. Experimental Tests To confirm the feasibility and practicability of the robust backstepping sliding mode control algorithm proposed within this study, it’s necessary to apply this algorithm to a prototype Etiocholanolone Technical Information machine for experimental testing. The standard flight manage algorithm applied in this study is cascade PID, which is divided into inner loop and outer loop PID for feedbackAerospace 2021, 8,13 of5. Experimental Tests To verify the feasibility and practicability on the robust backstepping sliding mode control algorithm proposed within this study, it’s essential to apply this algorithm to a prototype machine for experimental testing. The conventional flight manage algorithm applied within this study is cascade PID, which can be divided into inner loop and outer loop PID for feedback control of position, speed and attitude. The adjusted primary control gains are P in the outer loop and P, I and D in the inner loop. The PID parameters are obtained by way of bench and flight tests. Figure six shows the principle prototype of a coaxial rotor aircraft. The attitude Aerospace 2021, eight, x FOR PEERthe aircraft is extremely stable through flight according to the flight test data compared with 13 of 17 of Evaluation the cascade PID control on the traditional flight handle algorithm.(a)(b)(c)Figure 6. Principal prototype and Figure 6. Principal prototype and flight flight (a) Principal prototype; (b)flight experiment; (c) flightflight trajectory. test. test. (a) Principal prototype; (b) flight experiment; (c) trajectory.Figure 7 shows the position change in the coaxial twin-rotor aircraft throughout the flight experiment. The aircraft position curve obtained by the robust backstepping sliding mode control algorithm is considerably greater than that obtained utilizing the conventional controlospace 2021, 8, x FOR PEER REVIEWAerospace 2021, eight, 337 14 ofalgorithm. Under the robust backsteppingaircraft for the duration of the flight Figure 7 shows the position transform from the coaxial twin-rotor sliding mode handle experiment. The aircraft position curve obtained by the robust backstepping sliding mode of X, Y, Z, and aircraft in all directions is less than 0.eight m. In thi control algorithm is substantially much better than that obtained utilizing the traditional manage algorithm. Below the robust backstepping sliding fixed-point hovering can of true racy from the aircraft is higher, and mode handle, the position fluctuation be X, Y, Z, and aircraft in all directions is significantly less than .8 m. In this procedure, the flight a.