四旋翼无人机轨迹跟踪控制系统设计

Design of trajectory tracking control system for quadcoptor drones

针对具有空气动力的四旋翼无人机渐进轨迹跟踪控制问题,本文提出一种基于生物激励的四旋翼无人机轨迹跟踪控制策略。将滑膜控制与生物神经动力学模型相结合,解决了滑膜控制策略固有的控制信号振动问题,整个控制系统提供平滑的推力和扭矩控制指令。在实验中,通过对数值仿真验证所提出的控制策略的有效性,能够在复杂环境下提供平滑的控制信号和跟踪轨迹。

For the gradual trajectory tracking control problem of quadrotor drones with aerodynamics,this paper proposes a trajectory tracking control strategy based on bio-inspired stimulation.By combining sliding mode control with the bio-neurodynamic model,the inherent control signal vibration problem of sliding mode control strategy is addressed,providing smooth thrust and torque control commands for the entire control system.In experiments,the effectiveness of the proposed control strategy is validated through numerical simulations,demonstrating its capability to provide smooth control signals and track trajectories in complex environments.