Modeling And Simulation Research Of The Quad-rotor Robot Trajectory Tracking Control Method

With the development of new-technology, such as embedded processor, Micro-Sensor technology, aerial robotics have developed rapidly towards intelligent and functional, and have an important role in both military and civilian fields. Meanwhile, quad-rotor robots are the typical one of aerial robotics for the special construction, flexibility and easy to control, and have got the attention of the general research scholar and the science and technology company. Among the research about quad-rotor robots, trajectory tracking is an important problem. This paper mainly done some works about this problem as follows:1. This paper detailed analysis the nonlinear factors existed in the quad-rotor robot model, and determined the nonlinear equations in the case of avoid doing too much simplified. Establish the simulation model of the robot via MATLAB tool, and make each part modularity. Verify the accuracy of the models via zero input response and zero state response, in preparation for the step after inspection control algorithm.2. The robot controller is designed with dynamic inversion method. According to the state variable response speed, the robot dynamic inversion controller can be divided into three loops, which are fast loop, medium speed loop and slow loop. Respectively introduces the expected dynamic response function and the response of each circuit bandwidth selection, finally get quad-rotor robot attitude control and trajectory tracking simulation results, and analysis the robustness of the dynamic inversion controller.3. In order to reduce the influence of model parameter uncertainty and external disturbances, in this paper, model reference adaptive method is added in the attitude loop dynamic inversion controller. Eliminate the nonlinear characteristics of the module via the nonlinear dynamic inversion method, solve the steady-state error caused by the parameter perturbation and external disturbances via the model reference method. The simulation results show that the combination of model reference adaptive and dynamic inversion method has good robustness and traceability, the quad-rotor robot trajectory tracking controller designed by this method is feasible and effective.