Design Of Quad-rotor UAV Trajectory Tracking Control System

Quad-rotor unmanned aerial vehicle(UAV)is a multi-rotor UAV that can take off and land vertically.It has the advantage of small size and excellent performance,and has great military and civil value.However,the quad-rotor UAV has the characteristics of strong coupling,under-actuation,and nonlinearity.The traditional control method is insufficient to meet its dynamic performance index.Adaptive controllers adapt to changes in object and disturbance characteristics by continuously updating their own characteristics.Active disturbances rejection control(ADRC)technology does not depend on the model and can effectively solve a variety of internal and external uncertainties,and has strong robustness.So this paper applies adaptive and ADRC technology to the quad-rotor UAV trajectory tracking control system to improve the system's robustness and anti-interference.The main contents of the study include the following aspects: Firstly,the body structure and the movement mechanism of the quad-rotor UAV are analyzed.Then the quad-rotor UAV is simplified into a rigid body with six degrees of freedom,and the dynamics model of the quad-rotor UAV is established by using the relevant knowledge of dynamics.The quad-rotor UAV trajectory tracking control system is designed using the inner and outer rings.The outer ring mainly realizes the control of the position,acceleration and speed of the quad-rotor UAV.The inner ring mainly realizes the control of the attitude of the quad-rotor UAV.Then,the control principle of adaptive and ADRC is analyzed.The quad-rotor UAV inner loop attitude controller based on adaptive and ADRC control algorithm is designed respectively.The outer loop position subsystem adopts PD controller and is applied to quad-rotor UAV trajectory tracking control system.The same trajectory was set up for simulation experiments,and the control effect of a quad-rotor UAV trajectory tracking control system based on different control methods was analyzed.Finally,a quad-rotor UAV trajectory tracking control system is designed based on the control effects of the adaptive and ADRC algorithms,combining the advantages and disadvantages of the two.The trajectory tracking control system of the quad-rotor UAV has good real-time performance,stability and robust adaptive performance.The effectiveness of the designed controller is verified by Matlab/Simulink simulation.