Self-adaptive robust trajectory tracking control method for quad-rotor unmanned aerial vehicle

A four-rotor unmanned aerial vehicle, self-adaptive and robust technology, applied in the direction of adaptive control, general control system, control/regulation system, etc. Unsatisfactory machine tracking performance and other problems, to eliminate overshoot, improve stability and robustness, and suppress chattering

Pending Publication Date: 2021-09-07
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
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  • Claims
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Problems solved by technology

[0003] At present, the control scheme of quadrotor UAV has the following problems: the unknown external environment interference will cause the torque input of the rotor to fail to meet the trajectory tracking requirements of the UAV; Negative impact; the attitude and position tracking performance of the quadrotor UAV during flight is not ideal

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  • Self-adaptive robust trajectory tracking control method for quad-rotor unmanned aerial vehicle
  • Self-adaptive robust trajectory tracking control method for quad-rotor unmanned aerial vehicle
  • Self-adaptive robust trajectory tracking control method for quad-rotor unmanned aerial vehicle

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[0122] The present invention will be described in detail below with reference to the drawings and embodiments. At the same time, the technical problems and beneficial effects solved by the technical solution of the present invention are also described. It should be pointed out that the described embodiments are only intended to facilitate the understanding of the present invention, and have no limiting effect on it.

[0123] In this embodiment, starting from the requirements of the quadrotor UAV, combined with the motion characteristics of the quadrotor UAV, a simulation experiment is carried out on the adaptive robust trajectory tracking control method of the quadrotor UAV through MATLAB. The expected value of the trajectory tracking of the quadrotor UAV is set to [x d the y d z d ψ d ]=[cos0.5t sin0.5t 0.4t+5 cost], the initial values ​​of attitude and position are set to [x y z φ θ ψ]=[0 0 0 0.02 0.02 0].

[0124] Step 1: According to the structure and motion charact...

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Abstract

The invention discloses a self-adaptive robust trajectory tracking control method for a quad-rotor unmanned aerial vehicle, and belongs to the field of motion control of unmanned aerial vehicles. According to the method, the gyroscopic effect factor and the wind resistance coefficient of rotor wings are estimated by utilizing a self-adaptive estimation algorithm, and the estimated value is updated in real time according to the motion state of the unmanned aerial vehicle and is used for replacing a real value in a rotor wing control input equation, so that the precision requirement of trajectory tracking of the four-rotor unmanned aerial vehicle on control input is well met; an amplitude limiting function is used for replacing a sign function in a sliding mode reaching law, external disturbance terms in an unmanned aerial vehicle mechanical model are counteracted, the chattering phenomenon of the four-rotor unmanned aerial vehicle in the trajectory tracking process is restrained, and the stability and robustness of the whole unmanned aerial vehicle system are improved; and the overshoot phenomenon in the state variable convergence process is eliminated, so that the attitude and position of the unmanned aerial vehicle have high convergence speed and excellent tracking stability. The method can be applied to the fields of leader patrol, agricultural investigation and military detection.

Description

technical field [0001] The invention belongs to the field of motion control of unmanned aerial vehicles, and in particular relates to an adaptive robust trajectory tracking control method for a four-rotor unmanned aerial vehicle. Background technique [0002] With the continuous development of science and technology, the application of aerial vehicles is becoming more and more extensive. Among them, quadrotor drones are an important branch of aerial vehicles, and they are used in airspace patrols, agricultural surveys, military detection and other fields. Compared with traditional fixed-wing aircraft, quadrotor UAV has the characteristics of multi-rotor and multi-degree-of-freedom. With these characteristics, the quadrotor UAV can make flexible attitude adjustment and rapid position change, and these are inseparable from precise attitude adjustment and position tracking, so it is very important to study the trajectory tracking control of the quadrotor UAV. necessary. [00...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 修杨邓宏彬危怡然
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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