A state-limited control method and system for a quadrotor unmanned aerial vehicle

Abstract

The invention discloses a four-rotor unmanned aerial vehicle state constraint control method. The method comprises steps: 1) the position information, the velocity information, the attitude information and the angular velocity information of the unmanned aerial vehicle at a t moment are acquired; 2) according to an ideal trajectory, the position tracking error and the velocity tracking error at the t moment are calculated, and a position intermediate control law F at a t+1 moment is thus designed; 3) according to the position intermediate control law F at the t+1 moment, control lift T at the t+1 moment is designed; 4) according to the control lift T at the t+1 moment, the ideal attitude and the ideal angular velocity of the unmanned aerial vehicle at the t+1 moment are calculated; 5) according to the ideal attitude and the ideal angular velocity, the attitude error and the angular velocity error are calculated; and 6) an attitude intermediate control law beta at the t+1 moment is designed, the control torque gamma at the t+1 moment is thus designed, and thus, the unmanned aerial vehicle can reach the ideal attitude and the ideal angular velocity at the t+1 moment. The method uses unit quaternions to describe the attitude of the unmanned aerial vehicle, the calculation efficiency is improved, and the control precision is improved.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a state-limited control method and system for a quadrotor unmanned aerial vehicle. Background technique [0002] Quadrotor unmanned aerial vehicle is a small unmanned aerial vehicle driven by four motors. It has the advantages of strong maneuverability, compact structure, vertical take-off and landing, and air hovering. It has been widely used in many fields in recent years. . At the same time, due to the underactuated characteristics of the system: there are four control inputs and six controlled variables, which makes the design and analysis of the quadrotor unmanned aerial vehicle control system difficult. Therefore, in terms of theoretical research, four The controller design and analysis of rotor UAV is also a research hotspot. [0003] Most of the existing four-rotor UAV models use Euler angles to describe the attitude, which will cause Euler singularity and make t...

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Problems solved by technology

[0003] Most of the existing four-rotor UAV models use Euler angles to describe the attitude, which will cause Euler singularity and make the control law invalid. The analysis is more complicated; secondly, the existing control method can only guarantee the convergence performance of the error, but does not consider the error change in the dynamic process. Although the system is stable, the error may have exceeded the allowable range when tracking the process, and cannot Satisfying the control requirements makes the control scheme invalid; in addition, in the conventional control technology, the model of the system is simplified, which not only introduces modeling errors, but also only guarantees the respective stability of the position and attitude, and does not control the position The coupling between attitude and attitude is analyzed, and the stability of the closed-loop system has not been proved

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