Three-rotor unmanned aerial vehicle robust tracking controller control method

A tracking controller and control method technology, applied in three-dimensional position/channel control, attitude control, non-electric variable control and other directions, can solve limitations, the problem of three-rotor UAV position and attitude tracking control is not mentioned in relevant literature, lacks Stability analysis and experimental verification, etc.

Pending Publication Date: 2021-05-11
BINZHOU UNIV
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Problems solved by technology

This method can be effectively applied to underactuated multi-rotor UAV systems. The design process of each part of the controller is relatively independent, but its stability analysis process is relatively complicated, and it is highly dependent on the stability conclusion of the inner loop controller, which is difficult to obtain. Draw a complete closed-loop stability conclusion
[0004] Three-rotor UAV is a new configura

Method used

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  • Three-rotor unmanned aerial vehicle robust tracking controller control method
  • Three-rotor unmanned aerial vehicle robust tracking controller control method
  • Three-rotor unmanned aerial vehicle robust tracking controller control method

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Embodiment 1

[0050] Such as Figure 1-4 As shown, the present embodiment provides a three-rotor UAV robust tracking controller control method, the steps include establishing a three-rotor UAV nonlinear dynamics model, determining the current motor total lift vector F, current position ξ, current attitude η, Target position ξ d , target pose η d ;The current position is obtained by the onboard sensor of the UAV, and the difference between the target position and the tracking error is obtained, and the position tracking control is realized according to the pre-designed virtual controller v; the target roll angle and target pitch angle are calculated by the virtual controller The specific expression of , the current attitude is obtained by the UAV record sensor, and the difference between the two is obtained to obtain the attitude tracking error. According to the pre-designed attitude controller u, the attitude tracking error is calculated and updated until the error approaches 0.

[0051] ...

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Abstract

The invention belongs to the technical field of unmanned aerial vehicle control, and relates to a three-rotor unmanned aerial vehicle robust tracking controller control method. Aiming at the tracking control problem of a three-rotor unmanned aerial vehicle under unknown time-varying disturbance, an inner and outer ring analysis method is adopted, a linear feedback controller is adopted for outer ring position control, and a robust error symbol integral controller is adopted for inner ring position control. According to the method, effective compensation of unknown time-varying disturbance can be realized, and target tracking control of the unmanned aerial vehicle is realized. Experimental results show that the method has good robustness for target tracking control of the three-rotor unmanned aerial vehicle, and the unmanned aerial vehicle can rapidly overcome the influence of external disturbance and keep the pose stable.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and relates to a control method for a robust tracking controller of a three-rotor unmanned aerial vehicle. Background technique [0002] In recent years, multi-rotor drones have been more and more widely used in military and civilian fields such as high-altitude photography, post-disaster rescue, and environmental monitoring. Unlike traditional quad-rotor UAVs and hexacopter UAVs, tri-rotor UAVs usually consist of three motors and one steering gear, with simpler structure, lower cost, less energy consumption, and greater mobility. [0003] The three-rotor UAV relies on the rotation of three motors and the deflection of a tail servo to achieve pitch, roll, yaw and other actions. It is a typical underactuated system with four inputs and six outputs. For the design of the pose controller of this type of underactuated system, the currently widely used methods mainly include t...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 郝伟
Owner BINZHOU UNIV
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