A multi-level position control method for a drone

By employing a multi-level position control method, utilizing a square root controller and acceleration limiting, the problems of command discontinuity and acceleration abrupt changes in UAVs during rapid maneuvers and complex trajectory tracking were solved, thereby improving the stability and controllability of the UAV and ensuring attitude stability and dynamic performance.

CN122151886APending Publication Date: 2026-06-05长春长光博翔无人机有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
长春长光博翔无人机有限公司
Filing Date
2026-03-04
Publication Date
2026-06-05

AI Technical Summary

Technical Problem

Existing UAV control methods are prone to discontinuous commands and sudden acceleration changes during rapid maneuvers or when the trajectory changes significantly. This leads to attitude jitter and decreased control performance. Furthermore, the lack of effective constraints on the direction of acceleration affects the stability and controllability of the aircraft.

Method used

A multi-level position control method is adopted. By setting the target position, velocity, acceleration and constraint parameters, the square root controller and acceleration proportional coefficient are used to limit the amplitude and direction constraints, and a hierarchical control structure of position, velocity, acceleration and jerk is constructed to ensure the continuity and smoothness of commands.

Benefits of technology

It achieves stability and controllability of UAVs in rapid maneuvering and complex trajectory tracking, significantly improves attitude stability and dynamic performance, and avoids overshoot and oscillation problems in traditional control methods.

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Abstract

The application relates to the technical field of unmanned aerial vehicle flight control, and particularly provides a multi-layer position control method for an unmanned aerial vehicle, which is based on a nonlinear speed generation method of a square root controller, effectively avoids overshoot and oscillation problems in a traditional control method, and ensures that the angle between acceleration and speed does not exceed a set range by restraining the direction and amplitude of acceleration during turning and high-speed maneuvering of the unmanned aerial vehicle, so that the smoothness and controllability of the system during rapid turning are improved. The application constructs a layered control structure composed of position, speed, acceleration and jerk limitations, and improves the stability, accuracy and dynamic performance of the unmanned aerial vehicle control system.
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