Quadrotor unmanned aerial vehicle control method based on U-model

Abstract

The invention provides a quadrotor unmanned aerial vehicle control method based on U-model. The quadrotor unmanned aerial vehicle control method comprises steps of respectively establishing a mathematical model of wings of a quadrotor unmanned aerial vehicle and a kinetic model of a trajectory of the quadrotor unmanned aerial vehicle; decoupling the mathematical model to obtain a transfer functionof an independent control channel of the quadrotor unmanned aerial vehicle wing, wherein the independent channel comprises a pitching channel, a rolling channel, a yawing channel and a direction channel; constructing a first control law of the wings of the quad-rotor unmanned aerial vehicle by the transfer function through a U-model-based pole assignment method; obtaining a driving subfunction ofthe trajectory of the quadrotor unmanned aerial vehicle body through decoupling according to the kinetic model; constructing a second control law of the quadrotor unmanned aerial vehicle body througha U model-based pole assignment method according to the driving sub-function; and constructing a composite control rule of the quadrotor unmanned aerial vehicle according to the first control law andthe second control law.

Description

technical field [0001] The invention relates to the technical field of quadrotor drone control, in particular to a U-model-based quadrotor drone control method. Background technique [0002] Quadrotor aircraft is a representative of unmanned aerial vehicles. It can carry corresponding mission equipment to achieve different functions. It has been widely used in military fields such as reconnaissance and attack, damage assessment, agricultural inspection, express delivery, and formation performance. Quadrotor aircraft will suffer from various problems such as gust disturbance, mechanical vibration, actuator failure and trajectory deviation during flight, which will reduce the flight performance of the aircraft. Therefore, it is very important for the control of the trajectory and the control of the wings during the flight of the quadrotor UAV. In the prior art, due to the variety of tasks that the quadrotor aircraft can perform, this makes its type various. In the face of di...

AI Technical Summary

Problems solved by technology

Quadrotor aircraft will suffer from various problems such as gust disturbance, mechanical vibration, actuator failure and trajectory deviation during flight, which will reduce the flight performance of the aircraft.

Therefore, the controllers of different models are also varied, which leads to the difficulty in the design of the quadrotor UAV controller and increases the design cost of the quadrotor UAV controller. Composite general controller design is particularly important

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