Three-rotor unmanned aerial vehicle robust tracking controller control method

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...

AI Technical Summary

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 configuration of multi-rotor UAV. At present, there are few research institutions for this type of UAV, and the main research focus is limited to dynamic modeling, simple linear attitude controller design, and altitude control. However, due to the lack of complete stability analysis and experimental verification, there is no relevant literature on the pose tracking control of trirotor UAVs under unknown time-varying disturbances.

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