Quad-rotor unmanned helicopter explicit prediction control method based on loft optimization

Abstract

The invention discloses a quad-rotor unmanned helicopter explicit prediction control method based on heuristic bionic loft optimization. The method comprises the following steps that 1, a quad-rotor unmanned helicopter model is built according to aerodynamics and kinematics, and a relation between the controlled quantity and the state quantity is given; 2, a loft optimization algorithm is initialized, and the number D of sampling points required in a linearization track is given; 3, a cost function is designed; 4, map compass factors are utilized for optimization; 5, loft optimization landmark operators are utilized for optimization; 6, sample target points optimized by a loft are obtained to construct a linear interpolation function; 7, the interpolation function optimized by the loft is applied to the model obtained in the first step; 8, simulation or experiments are performed to obtain related results and verification. According to the method, the control complex difficulty can be lowered, the problem that explicit prediction control has the high requirement for the track and is hard to apply is solved, the online optimization process is avoided, a large amount of time is saved, and the control cost is lowered.

Description

【Technical field】 [0001] The invention is an explicit predictive control method for a quadrotor unmanned aerial vehicle based on heuristic bionic pigeon group optimization, belonging to the field of aircraft control. 【Background technique】 [0002] Unmanned Aerial Vehicle (UAV) plays an increasingly important role in today's military operations, and can effectively complete complex and dangerous reconnaissance and combat tasks. Although UAV has been widely used in military and civilian fields, many of its key technologies have yet to be further studied and applied. The quadrotor, as a cheaper and more reliable drone that can take off and land vertically, is being widely used in commercial and military applications. However, due to the multi-dimensionality of the quadrotor, it is controlled by four motors to take off and hover. Steering, so it requires a relatively high control rate. [0003] Model predictive control can realize precise control of the controlled object, but...

AI Technical Summary

Problems solved by technology

[0061] This method uses the pigeon group algorithm to interpolate the trajectory and applies it to the explicit nonlinear model predictive control, which can overcome the problem that the nonlinear model predictive control has high requirements on the trajectory and the complex trajectory is difficult to apply, and avoids the problem of nonlinear model predictive control. The problem of multiple derivatives saves control costs

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