Nonlinear Trajectory Tracking Control of Quadrotor UAV

Abstract

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

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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