UAV adaptive tracking control algorithm based on saturation limited condition

Abstract

The invention discloses a UAV adaptive tracking control algorithm based on a saturation limitated condition. The method comprises following steps of: first, building a non-linear, underactuated quad-rotor UAV model based on a Newton-Euler model, and realizing mathematization processing on the quad-rotor UAV model; then, based on an input saturation limited function model, building a system framework and selecting an input limited function; then, based on a sliding mode variable structure control method, realizing controlling and processing of a quad-rotor UAV position secondary system; and finally, based on an adaptive tracking control method, introducing active disturbance rejection control so as to process uncontrollable disturbance of the UAV, and realizing controlling and processing ofa quad-rotor UAV gesture secondary system. Under complex conditions that UAV input saturation is limited, and system disturbance is uncertain and uncontrollable, the method uses a dual closed-loop control model to adaptively track and control the position and gesture of the UAV, so as to enable the UAV to fly stably finally.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle control algorithm, specifically a four-rotor unmanned aerial vehicle tracking control algorithm, which belongs to the technical field of industrial automatic control. Background technique [0002] Quadrotor UAV is a vertical take-off and landing aircraft with six degrees of freedom, which can break through the runway limit and hover freely. Compared with other UAV platforms, it has simple structure, stability and super flexibility. Quadrotor drones are widely used in tactical reconnaissance, aerial photography, electromagnetic interference, short-distance freight and other fields. The research on quadrotor UAV has important practical significance, and has become one of the research hotspots at home and abroad. [0003] At present, a large number of scholars study the quadrotor UAV as a complex nonlinear, multivariable, underactuated control system. Moreover, many papers have been published on the t...

AI Technical Summary

Problems solved by technology

[0005] However, in actual flight, the UAV must perform a large amount of maneuvering flight, and the amount of control required usually exceeds the maximum output that the actuator can provide (the saturation characteristic of the actuator)

Such limitations tend to degrade the actual flight control performance, and in severe cases, it may lead to instability of the entire system

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