Multi-rotor unmanned aerial vehicle trajectory tracking composite control method

Abstract

The invention provides a multi-rotor unmanned aerial vehicle trajectory tracking composite control method, which comprises the steps of establishing a feature model of a multi-rotor unmanned aerial vehicle, and achieving equivalence from a high-order, strong-coupling and non-linear multi-rotor unmanned aerial vehicle system to a low-order time-varying difference model; estimating characteristic parameters by adopting a recursive least square method with a forgetting factor; designing a golden section self-adaptive feedback controller module to ensure that a closed-loop system is stable in a transition process stage under the condition that parameters are not converged; introducing a feedforward controller module to gradually approach an inverse model of a feature model. An expected trajectory can be quickly tracked without waiting for deviation feedback of the system, the dynamic control performance of the system is improved, once disturbance occurs in the system, feedback control actsin time, and it is ensured that the system has high disturbance resistance. The multi-rotor unmanned aerial vehicle trajectory tracking composite control method based on the feature model provides anew thought for multi-rotor unmanned aerial vehicle trajectory tracking control research, and has certain theoretical reference significance and practical application value.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a characteristic model-based trajectory tracking compound control method for multi-rotor unmanned aerial vehicles. Background technique [0002] Multi-rotor UAV has the characteristics of simple structure, flexible flight mode, and vertical take-off and landing. In recent years, it has attracted extensive attention from scholars at home and abroad, and has shown broad application prospects in military and civilian fields. [0003] Accurate trajectory tracking of multi-rotor UAV is the basic requirement for its autonomous flight. Since the multi-rotor UAV is a high-order, strongly coupled, time-varying, multiple-input and multiple-output nonlinear system, it is difficult to accurately model such a complex system and achieve accurate trajectory tracking control. Moreover, the high-order and complex structure of the multi-rotor UAV model are not conducive to contro...

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Problems solved by technology

Moreover, the high-order and complex structure of multi-rotor UAV models are not conducive to controller design and practical application.

At present, for the trajectory tracking control of multi-rotor UAVs in practical engineering, the model of multi-rotor UAVs is often simplified to achieve low-level controller design, or a complex nonlinear trajectory tracking controller is designed to control high-level models. However, complex trajectory tracking algorithms are often difficult to be well applied in actual engineering

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