Quadrotor flying robot non-linear trajectory tracking controller and tracking control method thereof

A flying robot and trajectory tracking technology, applied in attitude control, three-dimensional position/lane control, etc., can solve problems such as limiting the maneuverability of flying robots and environmental interaction capabilities, restricting performance, and losing control of flying robots, so as to improve trajectory tracking performance, The effect of avoiding the lack of linearization and simplifying the design steps

Active Publication Date: 2016-07-06
BEIHANG UNIV
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Problems solved by technology

Quadrotor flying robot is a typical underactuated and strongly coupled nonlinear system, which brings challenges to the design of its flight trajectory tracking controller
The currently widely used flight trajectory tracking controllers for quadrotor flying robots have the following deficiencies: the attitude is usually expressed based on Euler angles, and the controller that uses Euler angles for attitude expression has the characteristics of intuitive attitude expression, but When the pitch angle is 90 degrees, there is a singularity point. At this time, the flyin

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  • Quadrotor flying robot non-linear trajectory tracking controller and tracking control method thereof
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  • Quadrotor flying robot non-linear trajectory tracking controller and tracking control method thereof

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Embodiment Construction

[0016] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0017] The present invention provides a nonlinear trajectory tracking controller and its control method for a four-rotor flying robot. The command value is used instead of the nominal value to design the control loop, such as figure 2 As shown, the tracking controller provided by the present invention is composed of two parts: a position control subsystem and an attitude control subsystem. The position control subsystem includes the first outer loop pseudo-dynamic inverse, the first outer-loop PI controller, the first inner-loop pseudo-dynamic inverse, the first inner-loop PI controller and a position configuration link, and the position configuration link is based on force Command F com Calculate the attitude command value β com and the total pull T the four rotors should produce com , output to the attitude control subsystem. The attitude control subsystem inc...

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Abstract

The present invention discloses a quadrotor flying robot non-linear trajectory tracking controller and a tracking control method thereof, and belongs to the flying robot control technology field. The controller comprises a position control subsystem and an attitude control subsystem, the position control subsystem comprises the outer ring and inner ring pseudo dynamic inverters and PI controllers and a position configuration link, and the attitude control subsystem also comprises the outer ring and inner ring pseudo dynamic inverters and PI controllers and an attitude configuration link. According to the present invention, a singular point existing based on an eulerian angle controller and the insufficiency that a linear controller restricts the performance of a robot, are avoided, the design of the controller is simplified, and the system tracking precision of the controller is improved. The designed controller not only has a all-attitude trajectory tracking capability, but also is strong in anti-interference capability, is high in tracking precision, enables the maneuverability and the environment interaction capability of a quadrotor flying robot to be improved remarkably, and lays the technical foundation for the further popularization and application of the quadrotor flying robot.

Description

technical field [0001] The invention belongs to the technical field of flying robot control, and relates to automatic trajectory tracking technology, in particular to a design method for a nonlinear trajectory tracking control system of a four-rotor flying robot. Background technique [0002] With the rapid development of flying robot technology, the application of flying robots is becoming more and more extensive. In particular, the quadrotor flying robot has no special requirements for the site because of its vertical take-off and landing function. It is especially suitable for reconnaissance, rescue, aerial photography and other fields. It has gradually been applied in civilian and military fields. In order to improve the operating capability and application range of quadrotor flying robots, people are no longer satisfied with the basic requirements of quadrotor flying robots such as smooth flight, but the requirements for its maneuverability and environmental interaction...

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/08G05D1/10
Inventor 丁希仑査长流俞玉树王学强
Owner BEIHANG UNIV
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