| With the continuous development of science and technology,human beings have started to pay attention to the research of robots operating in special environments.Aerial robots are typical representative among them,which has the characteristics of a wide range of activities,ignoring terrain,and so on.The quadrotors are widely used in military and civil fields,and they have the characteristics of high mobility,high efficiency,and high adaptability.At present,there have been many theoretical studies on the control of quadrotors,mainly focusing on how to improve the stability,rapidity,and anti-interference ability of the control.However,in practical applications,the control of quadrotors faces problems such as control failure due to missing sensor measurements,attitude imbalance due to angular velocity overshoot,and body rollover due to velocity overshoot.In this paper,we focus on the attitude and position trajectory tracking control method for the quadrotors under velocity-constrained conditions and proceed step by step in the order of problem formulation,model analysis,algorithm design,and experimental verification.The main research results obtained are as follows.Aiming at the problem of the missing attitude measurement value of quadrotor UAV under a single inertial measurement unit,an anti-jamming attitude control method based on multiple inertial measurement units is proposed.First,a network of multiple inertial measurement units is used to estimate the zero drift of each inertial measurement unit.Secondly,a non-linear observer network is designed to realize the synchronization of the measured values of each inertial measurement unit.Finally,an anti-jamming controller based on the super-spiral sliding mode algorithm is designed,and the stability of Lyapunov is analyzed to realize the compensation of the external disturbance of the attitude loop.Aiming at the angular velocity overshoot in the attitude control of quadrotor UAVs,an attitude control method with limited angular velocity is proposed.First,the attitude dynamics model is established,and the attitude loop controller that introduces the attitude restriction items is designed.In addition,in order to solve the problem of control deviation caused by the disturbance in the actual flight of the UAV,a finite-time attitude disturbance observer and anti-jamming controller are designed,and the stability analysis of Lyapunov is carried out to realize the attitude control under the limited angular velocity.Aiming at the speed overshoot problem of quad-rotor UAVs in actual flight,a trajectory tracking control algorithm with limited speed is designed based on the principle of the double closed loop.Firstly,a speed-constrained term is introduced to the position control loop of the UAV,and the disturbance observer and anti-jamming controller of the position loop are designed based on the backstepping method.Secondly,the desired attitude angle is obtained by decoupling the output of the position loop,the disturbance observer and anti-jamming controller of the attitude loop are designed,and the stability analysis of Lyapunov is carried out,which meets the requirements of trajectory tracking control under the speed limit.The limited multi-UAV formation tracking control has laid the foundation.Aiming at the speed overshoot problem in the formation control of quadrotor UAVs,a multi-UAV formation control algorithm with limited speed is proposed.First of all,an observer for estimating the speed of the follower UAV to the leader UAV in the formation is designed.Secondly,based on the state estimation and consistency theory of the leader UAV,the position loop disturbance observer and anti-jamming controller of the follower UAV under the limited speed are designed.Finally,the UAV position loop is decoupled to obtain the desired output of the attitude loop,and the corresponding attitude loop interference observer and anti-jamming controller are designed to realize the formation control of the quad-rotor UAV under the speed constraint. |
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