基于分数阶S面模型的四旋翼轨迹跟踪控制

Trajectory tracking control of quadrotor based on fractional order S-plane model

四旋翼无人机具有欠驱动、非线性、强耦合的特点。针对四旋翼无人机轨迹跟踪控制中跟踪精度低,抗外界干扰能力弱的特点,通过对四旋翼无人机进行四元数建模,使用误差四元数作为控制器输入,消除了无人机在机动角度过大时的奇点问题,提出了一种分数阶S面的控制方法,即将分数阶PID控制与S面控制融合,作为一个新的控制器。轨迹跟踪试验表明,分数阶S面控制器在四旋翼无人机控制模型中的累计误差明显小于分数阶PID,证明了该方法具有抗风扰能力强、跟踪精度高的特点。

Quadrotor possess traits such as under-actuation,nonlinearity,and strong coupling.Quaternions are primarily used for attitude calculation in drones,with error quaternions seldom employed directly in the control of specific quadcopter drones.This paper focuses on the low tracking accuracy and weak anti-interference ability of quadcopter drones in trajectory tracking control.By establishing the quadcopter quaternion model,a controller based on quaternion error is designed through a combination of fractional-order PID control with S-plane control.Trajectory tracking experiments demonstrate that:the fractional-order S-surface controller has significantly smaller cumulative errors than the fractional-order PID in the control model of quadcopter drones,proving that this method has strong anti-wind disturbance ability and high tracking accuracy.