Unmanned aerial vehicle trajectory tracking method based on differential flatness characteristics

Abstract

The invention discloses an unmanned aerial vehicle trajectory tracking method based on differential flatness characteristics, which comprises the following steps: performing dynamics and kinematics modeling on a four-rotor aircraft, performing differential flatness attribute judgment on a model of the four-rotor aircraft, and converting an underactuated four-rotor model into a full-drive system through nonlinear change on the basis of the property. And setting a virtual control quantity, decoupling the highly coupled system, and converting the highly coupled system into a linear system. The flight path tracking control problem of a constrained system is processed through model prediction control, a polyhedron description system is constructed for the time-varying characteristics of the system and comprises an original time-varying system, the online optimization calculation complexity is reduced, and a real-time terminal penalty value enabling the system to be stable is deduced according to the online optimization calculation complexity. The model prediction control method for the time-varying system is designed, constraints and system time-varying characteristics in the unmanned aerial vehicle trajectory tracking process are processed, the unmanned aerial vehicle trajectory tracking task can be effectively completed, the nonlinear characteristics of the unmanned aerial vehicleare well processed, the calculation complexity is low, and the tracking speed is high.

Description

technical field [0001] The invention relates to the technical field of automatic control of highly coupled, underactuated, time-varying, nonlinear systems, and in particular to a trajectory tracking method for an unmanned aerial vehicle based on differential flat characteristics. Background technique [0002] Quadrotor UAVs are rapidly favored by military and civilian use due to their advantages such as unmanned driving, high maneuverability, small size, vertical take-off and landing, and low manufacturing costs. Its biggest advantage is that it is unmanned and does not need to carry various equipment related to the pilot. The large amount of space and weight it saves can be used to arrange more operational loads and achieve more flight tasks, such as military ground battlefields. Reconnaissance, surveillance, intelligence acquisition, air strike support, civil aerial photography, search and rescue in dangerous areas, complex terrain exploration, etc. Complex flight tasks r...

AI Technical Summary

Problems solved by technology

However, there is currently no outstanding method for simultaneously processing and coordinating highly coupled, underactuated, time-varying, nonlinear, and constrained quadrotor UAV systems. The traditional methods either have high computational complexity or Many assumptions have been made to improve the solution speed, which is difficult to be applied in tasks that require high tracking speed of UAVs

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