It is always a good idea to check with city hall in the town where you are planning to put up your structure. "Ignorance is no excuse" is a motto to live by.
Cities and towns that would require permits will have the regulations and size limits available for you.
However, it is highly unlikely a permit would be required anyplace for this type of canopy. It is not a permanent structure and normally small, temporary structures (tents, canopies, etc) will not need a permit.