Quadrotor UAVs Trajectory Tracking Control Based On Model Predictive Control

In recent years,the quadrotor unmanned aerial vehicle(UAV)has gradually generated great interest in the automatic control area with its simple mechanical structure and unique flight mode.Small quadrotor UAV has small size,good concealment,smooth fligh and can carry certain equipment for autonomous flight,and its military applications,disaster relief,entertainment,scientific research and other fields have important uses and value.Moreover,it can replace the pilot to complete some dangerous rescue tasks.However,the system dynamics of the quadrotor is usually strong-coupling and with nonlinearity,which makes the system difficult to the control of the quadrotor UAVs.Therefore,this article focuses on the control of the quadrotor UAV.The main research works are as follows:Firstly,the dynamic model of quadrotor UAV is studied.The structure,flight principle and flight attitude of quadrotor UAV are described in detail.Based on the coordinate system,the relationship between the body coordinate system and the geodetic coordinate system is deduced.Based on the Newton and Euler equations,the kinetic equations of quadrotor UAV is derived.Secondly,the paper studies the tracking control algorithm of quadrotor UAV.The quadrotor UAV uses a double-loop control structure.Because MPC method is ability to deal with input and output constraints,in the outer loop(position loop),MPC controllers are designed to track the reference trajectory under input or output physical constrains.At the same time,In the inner loop(attitude loop),to achieve rapid response for attitude,PID controllers are designed to track the reference attitude.Combining Model Predictive Control and PID Control to achieve trajectory tracking control of Quadrotor UAV.Simulation results show the effectiveness of this method.Finally,in order to further illustrate the effectiveness of the proposed method,the method of this paper is compared with the double PID scheme that the inner loop and outer loop both adopt PID algorithm.The simulation results show that the method can deal with input and output constraints,so this method is better than double PID control method.Finally,the attitude estimation algorithm of quadrotor UAV is studied.Because the attitude information of the quadrotor UAV is difficult to measure during actual flight and there is noise in the measurement,the extended Kalman filter is used to achieve the attitude estimation and filtering of the quadrotor UAV.Firstly,the basic principle of the extended Kalman filter is introduced.Then,the attitude of the quadrotor UAV is estimated and filtered by the extended Kalman filter algorithm.Simulation results verify the effectiveness of the method.