基于积分反步法的四旋翼飞行器轨迹跟踪控制

Trajectory Tracking Control of Quadrotor Based on Integral Backstepping

四旋翼飞行器的姿态动力学模型是多输入多输出(MIMO)、强耦合和非线性的。首先,对四旋翼飞行器动力学进行了数学建模。接着,提出了一种基于积分型的反步控制方法应用于四旋翼飞行器的稳定飞行及轨迹跟踪控制。通过引入跟踪误差的积分项,从而降低飞行器进行轨迹跟踪时的稳态误差。整个控制系统采用双闭环回路结构,内回路用于稳定飞行器的姿态角,而外回路用于控制飞行器的高度和水平方向的位移。最后,通过与传统的反步(Backstepping)控制法做实验对比,结果表明,应用积分反步(Integral Backstepping,IB)控制算法的飞行器能够较为精确地完成飞行器轨迹跟踪的任务。

The attitude dynamics model of the quadrotor is multi-input multiple output（ MIMO）,strong coupling and nonlinear. The dynamics of quadrotor is modeled firstly. Then,a kind of backstepping control method based on integral type is proposed to apply the stable flight and trajectory tracking control to the quadrotor aircraft. By adopting the integral term of the tracking error,the steady-state error of the trajectory tracking is reduced. Double closed loop structure is used in the entire control system. The inner loop is used to stabilize the attitude angle of the aircraft,and the outer loop is used to control the height and horizontal displacement of the aircraft. Finally,by comparing with the traditional backstepping control method,the results show that the application of Integral Backstepping（ IB） control algorithm can complete the task of vehicle trajectory tracking more accurately.