四旋翼无人机非线性轨迹跟踪控制

摘要/Abstract

摘要： 针对四旋翼轨迹跟踪在高频情况下易出现系统不稳定的问题，设计一种基于动态逆技术（Dynamic Inverse, DI）的轨迹跟踪方法。由于四旋翼是典型的欠驱动系统，本文考虑双闭环设计，通过各种数值实验验证在低频率与高频率情况下控制器的追迹性能，并与PID控制器进行比较。仿真结果表明，频率为0.6π rad/s时本文方法的位置跟踪均方误差比PID方法的误差小0.0514 m，当频率大于1.15π rad/s时PID控制方法使得系统出现不稳定，而本文方法仍可以完成较好的轨迹跟踪。

关键词: 四旋翼无人机, 非线性控制, 动态逆, 位姿控制, 轨迹跟踪

Abstract: Aiming at the problem of system instability in the case of quadrotor trajectory tracking at high frequency， a trajectory tracking method based on dynamic inverse （DI） technology is designed. Since the quadrotor is a typical under actuated system， this paper considers the double closed-loop design， and verifies the tracking performance of the controller at low frequency and high frequency through various numerical experiments， and compares it with the PID controller. The simulation results show that when the frequency is 0.6π rad/s， the mean square error of position tracking of the proposed method is 0.0514 m less than that of the PID method. When the frequency is greater than 1.15π rad/s， the PID control method makes the system unstable， but the proposed method can still achieve better trajectory tracking.

Key words: quadrotor UAV, nonlinear control, dynamic inversion, position control, trajectory tracking

杨宗月, 时正华. 四旋翼无人机非线性轨迹跟踪控制[J]. 计算机与现代化, 2023, 0(04): 95-100.

YANG Zong-yue, SHI Zheng-hua. Nonlinear Trajectory Tracking Control of Quadrotor UAV[J]. Computer and Modernization, 2023, 0(04): 95-100.

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