A nonlinear trajectory tracking controller and tracking control method for a quadrotor flying robot

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...

AI Technical Summary

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 flying robot is out of control, which limits the maneuverability of the flying robot and the ability to interact with the environment.

Another problem is the commonly used controller. The control method usually used is to design the system by linearizing the linear control method. The advantage of this method is that it simplifies the design process of the controller. However, due to the It is a nonlinear system, which is controlled by a linear control method, which seriously restricts its performance, especially its maneuverability and environmental interaction ability.

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