Research On Trajectory Tracking Control Of Quadrotor

The early 21st century,in order to take the lead in science and technology,countries all over the world have invested a large number of research funds in order to accelerate the development of science and technology and promote the explosive growth of the types of science and technology products,among which the Quadrotor Unmanned Aerial Vehicle(Quadrotor)is one of the most representative scientific and technological products in this period.The performance of Quadrotor has been improved rapidly not only in hardware and software,but also in maneuverability,low production cost and good control.It is widely used in military reconnaissance and combat,commercial research and production and personal aerial photography.The key technologies in the research of Quadrotor are flight control stability and trajectory tracking control.Considering the actual flight environment,it is of great theoretical significance and practical engineering value to study the trajectory tracking control of Quadrotor.This study combined with integral backstepping,adaptive control algorithm,and disturbance observer method and the extended state observer theory,considering the unknown disturbance existing in the system of Quadrotor,model dynamic uncertainty and bad fly speed under the condition of unpredictable,etc.,put forward a kind of based on Integral Backstepping anti gait state feedback and output feedback adaptive trajectory tracking control strategy,through the theoretical derivation and simulation experiment and result analysis,verified the effectiveness of the proposed control strategy.In this project,firstly,the composition structure and flight control principle of the Quadrotor are briefly expounded,and the motor of the Quadrotor is modeled by the actuator control mechanism.Meanwhile,the mathematical model of the Quadrotor is derived based on the theoretical knowledge of dynamics and kinematics,and the mathematical model is simplified by ignoring the less influential factors in the model.According to the actual motor control signal of the control system,the virtual control quantity is used to calculate the actual distribution of four motor control components.Secondly,for the convenience of the design of the control system,the trajectory tracking control system is divided into posture and position control subsystem,an integral backstepping attitude control and position control system is designed,respectively,through the typical sine signal and step signal response to the attitude control subsystem of simulation experiment,and response performance compared with the traditional PID algorithm,highlight the superiority of the algorithm;At the same time,white noise signal is introduced into the control system to simulate the high frequency vibration of the motor and the perturbation signal of the sensor.Considering the influence of the error on the control system,the adaptive control rate is introduced into the control system,and the robustness and effectiveness of the designed adaptive integral backstepping trajectory tracking controller can be verified by the analysis of the simulation experiment results.Thirdly,considering the Quadrotor flying in the actual process parameters perturbation of uncertainties and unknown disturbance of the interference of air flow rate,in view of the Quadrotor such composite disturbance problems,put forward a kind of integral backstepping based on disturbance observer’s gait control strategy,introducing the disturbance observer makes it to conform to the disturbance signal in the system of estimate and eliminate,simplify the design process of flight control system,closer to the project implementation.Quanser company indoor positioning QBall2 experimental platform for MATLAB simulation whose results verify the correctness of the designed control algorithm.Finally,considering the model and the trajectory tracking control problem of the Quadrotor with unmeasurable velocity,the control strategy of the extended observer to estimate the Quadrotor velocity and the composite disturbance is designed.This method has good adaptability and robustness to uncertain parts of model parameters and unknown external environmental disturbances.Quanser company indoor positioning QBall2 experimental platform for MATLAB simulation whose results verify the correctness of the designed control algorithm.