Quadrotor unmanned aerial vehicle trajectory tracking control method with high precision

A four-rotor unmanned aerial vehicle, trajectory tracking technology, applied in vehicle position/route/height control, attitude control, non-electric variable control, etc., can solve the problem that the trajectory tracking control accuracy cannot be achieved

Pending Publication Date: 2020-10-23
AIR FORCE UNIV PLA
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Problems solved by technology

However, in practical applications, it is difficult to ensure that the non-affine functions in these control

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  • Quadrotor unmanned aerial vehicle trajectory tracking control method with high precision
  • Quadrotor unmanned aerial vehicle trajectory tracking control method with high precision
  • Quadrotor unmanned aerial vehicle trajectory tracking control method with high precision

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Embodiment Construction

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0028] Before introducing the method of the present invention, the technology related to the unmanned aerial vehicle is described first.

[0029] figure 1 Schematic diagram of the structure of a quadrotor UAV. is the ground coordinate system, conforms to the right-hand rule, and the z-axis is vertically upward. It is the UAV body coordinate system, and the coordinate origin is set at the UAV center of mass. ξ=[x,y,z] T and η=[φ,θ,ψ] T represent the four...

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Abstract

The invention discloses a quad-rotor unmanned aerial vehicle trajectory tracking control method with high precision, which comprises the following steps: inputting a position reference instruction signal, a speed reference instruction signal and the position and speed of an unmanned aerial vehicle into a translation subsystem control law, and calculating to obtain a virtual control law; carrying out coordinate transformation on the virtual control rate to obtain a resultant lift force generated by rotor wings and an Euler angle reference instruction signal of the unmanned aerial vehicle; and inputting the Euler angle reference instruction signal and the Euler angle of the unmanned aerial vehicle into an Euler angle control law, and calculating an angular velocity reference instruction signal of the unmanned aerial vehicle; inputting the angular velocity reference instruction signal and the angular velocity of the unmanned aerial vehicle into an angular velocity control law, and calculating the torque of the rotor wings acting on the unmanned aerial vehicle; and inputting the resultant lift force and the torque into an unmanned aerial vehicle model to perform unmanned aerial vehicletrajectory tracking control. According to the method, a preset performance function is brought into the control law design process, so that high-precision trajectory tracking control is realized; andsince the method does not depend on precise model parameters and any estimator, the robustness and real-time performance of control are ensured.

Description

technical field [0001] The invention relates to the technical field of UAV control, in particular to a high-precision trajectory tracking control method for a quadrotor UAV. Background technique [0002] Quadrotor UAV has important military and civilian values, so it has always been a research hotspot in the field of flight control. In recent years, quadrotor drones have been widely used in military patrols, package delivery and aerial photography. However, quadrotor UAV is a typical multivariable, nonlinear, underactuated and strongly coupled system, which makes it very difficult to identify its precise aerodynamic parameters and model parameters, so it is very difficult to perform high-precision trajectory tracking control. [0003] Due to the underactuated dynamics of the quadrotor UAV, it is usually necessary to divide it into two subsystems, translation and rotation, and design control laws separately. In view of this, control schemes such as sliding mode control, fin...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101Y02T10/40
Inventor 王应洋胡剑波张鹏郭基联
Owner AIR FORCE UNIV PLA
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