四旋翼高速稳定轨迹的自适应控制方法

Adaptive control method of high-speed stable trajectory for quadrotor

为了控制四旋翼(大于1 kg)能够高速稳定地跟随运动轨迹飞行,设计改进的姿态误差比例控制算法和自适应调节位置控制器。利用系绳使四旋翼能够在有限空间里高速稳定地跟踪期望运动轨迹飞行,并且给出系绳拉力的模型。该控制算法基于旋转矩阵定义四旋翼的姿态误差,避免欧拉角表示姿态的奇异性,可用于四旋翼姿态规划的跟随控制。针对四旋翼的欠驱动性质,控制器能够根据四旋翼的状态和期望轨迹调节期望速度,在姿态误差较大时减小速度。仿真结果表明,基于旋转矩阵设计的四旋翼姿态控制方法,能使四旋翼的姿态误差迅速趋近于0,而相比于传统PID控制器,自适应位置控制器在高低速情况下都能使四旋翼稳定跟随期望轨迹。

In order to control a quadrotor(whose weight is more than 1 kg)to track the motion trajectory steadily at high speed,an improved attitude error proportional control algorithm and an adaptive position adjustment controller are designed.A tether is used to make the quadrotor track the desired motion trajectory in a limited space at high speed.The tensile force model of the tether is given.On the basis of the rotation matrix,the control algorithm defines the attitude error of the quadrotor,can avoid the singularity of the attitude expressed by Euler angle,and can also be used for track control of the attitude planning of the quadrotor.Because quadrotor is underactuated,the controller can adjust the desired speed according to the state of the quadrotor and the desired trajectory,and reduce the speed when the attitude error is large.The simulation results show that the attitude control method designed according to the rotation matrix can make the quadrotor’s attitude error quickly decrease and approach to 0,and compared with the conventional PID controller,the adaptive position controller enables the quadrotor to track the desired trajectory stably at high speed and low speed.