基于反步法的四旋翼飞行器轨迹跟踪研究

Trajectory Tracking of Quad-Rotor Aircrafts Base on Backstepping

在四旋翼飞行器航迹跟踪优化控制的研究中,四旋翼飞行器具有欠驱动和强耦合的特点,在对设定轨迹进行跟踪时,容易出现控制精度较低、抗干扰能力差等问题。针对以上问题,设计了一种采用反步法的轨迹跟踪方法,运用牛顿-欧拉公式建立四旋翼飞行器的动力学模型,将四旋翼飞行器的飞行控制系统分解为上下、前后、左右、偏航四个子系统,应用反步算法为四个子系统配置控制律,实现四旋翼飞行器对设定轨迹的精确跟踪。实验结果表明,所提算法能够让四旋翼飞行器实现对所设定轨迹精确的跟踪,最大跟踪误差不超过6cm。

Due to the under-actuated and strong coupling characteristics of quad-rotor aircrafts,traditional trajectory tracking methods have low control precision and poor anti-interference ability.A trajectory tracking method based on backstepping algorithm is designed.In this method,the dynamic model of the quad-rotor aircrafts is established by using the Newton Euler equation.The flight control system of the quad-rotor aircrafts is decomposed into four subsystems,which are the upper and lower,the front and rear,the left and right,and the yaw.And the backstepping algorithm is used to obtain control law of the four subsystems to achieve the precise trajectory tracking.The experimental results show that the proposed algorithm can achieve the accurate trajectory tracking of quad-rotor aircrafts,and the maximum tracking error is less than 6cm.