An Active Anti-jamming Tracking Control Method for Quadrotor UAV Circular Trajectory

Abstract

The invention discloses an active anti-disturbance tracking control method for a circular trajectory of a quad-rotor unmanned aerial vehicle. The active anti-disturbance tracking control method comprises the steps of: establishing a quad-rotor unmanned aerial vehicle position system model, and converting a trajectory tracking problem of the quad-rotor unmanned aerial vehicle into a stabilization problem of a position loop tracking error; introducing a virtual control quantity, and establishing a quad-rotor unmanned aerial vehicle position subsystem high-order sliding mode disturbance observer;establishing a quad-rotor unmanned aerial vehicle composite nonlinear dynamic inverse controller, and ensuring that a disturbed quad-rotor unmanned aerial vehicle position system dynamically and progressively tracks a reference trajectory thereof; and converting the virtual control quantity into a real control quantity of the quad-rotor unmanned aerial vehicle through algebraic conversion. According to the active anti-disturbance tracking control method, the lumped disturbance of the system can be observed within limited time and dynamically compensated, so that the quad-rotor unmanned aerialvehicle has better anti-disturbance performance and robustness.

Description

technical field [0001] The invention belongs to the technical field of flight control, and in particular relates to a control method for a quadrotor unmanned aerial vehicle. Background technique [0002] Quadrotor UAV is a kind of UAV that can take off and land vertically and hover in the air. Due to its simple structure, convenient control, strong versatility of flight environment, and low maintenance cost, it has been widely used in aerial reconnaissance, high-altitude Photography, environmental disaster monitoring, disaster rescue and other fields have important research significance and application prospects. In the field of control theory research, quadrotor UAV system control is a typical benchmark problem with multiple input-multiple output, obvious nonlinear characteristics, and serious state coupling. In addition, the flight process of quadrotor drones will also be affected by multi-source interference such as internal aerodynamic parameter perturbation, friction a...

AI Technical Summary

Problems solved by technology

However, the anti-disturbance performance of the existing robust control strategy is obtained at the expense of the nominal performance of the system, and the active anti-disturbance control strategy based on the extended state observer can obtain a good control effect, but its effect on the disturbance Assumptions are too harsh, which greatly limits its engineering application

Images