Trajectory Tracking Control of Quadrotor UAV Based on Disturbance Compensation

doi:10.3969/j.issn.1009-086x.2024.02.010

Abstract

Abstract:

A control strategy based on disturbance compensation is devised to address the issue of stabilizing trajectory tracking for quadcopter unmanned aerial vehicles （UAVs） with unknown external disturbances. Firstly， this paper designs a PID position controller for the quadcopter UAV’s position loop and compensates for external disturbances using a disturbance observer. Secondly， the desired attitude is obtained through attitude computation， and an incremental nonlinear dynamic inversion（INDI） attitude controller with strong robust performance is designed for the quadcopter UAV’s attitude loop. Finally， simulation and comparative experiments are conducted by Simulink. Experimental results indicate that this control strategy can achieve trajectory tracking capability for quadcopter UAVs under conditions of unknown external disturbances.

Key words: quadrotor unmanned aerial vehicles UAV, trajectory tracking, disturbance compensation, position controller, attitude computation, attitude controller

摘要：

针对带有未知外部扰动的四旋翼无人机轨迹稳定跟踪问题，设计了一种基于干扰补偿的控制策略。针对四旋翼无人机位置环设计PID位置控制器，并基于干扰估计器对外部干扰进行补偿。通过姿态解算得到期望姿态，并针对四旋翼无人机姿态环设计具有强鲁棒性能的INDI姿态控制器，通过Simulink进行仿真对比试验。实验结果表明，该控制策略可实现带有未知外部扰动条件下的四旋翼无人机轨迹跟踪能力。

关键词: 四旋翼无人机, 轨迹跟踪, 干扰补偿, 位置控制器, 姿态解算, 姿态控制器

CLC Number:

V279⁺.2

Wenru FAN, Quanwei LIU, Bailing TIAN. Trajectory Tracking Control of Quadrotor UAV Based on Disturbance Compensation[J]. Modern Defense Technology, 2024, 52(2): 87-93.

范文茹, 刘权威, 田栢苓. 基于干扰补偿的四旋翼无人机轨迹跟踪控制[J]. 现代防御技术, 2024, 52(2): 87-93.

Figures/Tables 8

Fig. 1 Quadrotor structure

Fig. 2 Overall structure

Table1 Quadrotor parameters

参数	数值
$m$ /kg	0.625
$l$ /m	0.127 5
$g$ /（m·s^-2）	9.8
$k$ /（Nms²·rad^-2）	7.2×10^-7
$c$ /（Ns²·rad^-2）	1.98×10^-6
$I x$ /kgm²	2.6×10^-3
$I y$ /kgm²	2.4×10^-3
$I z$ /kgm²	2.6×10^-3

Table1 Quadrotor parameters

参数	数值
$m$ /kg	0.625
$l$ /m	0.127 5
$g$ /（m·s^-2）	9.8
$k$ /（Nms²·rad^-2）	7.2×10^-7
$c$ /（Ns²·rad^-2）	1.98×10^-6
$I x$ /kgm²	2.6×10^-3
$I y$ /kgm²	2.4×10^-3
$I z$ /kgm²	2.6×10^-3

Table 2 Controller parameters

参数	数值
$k p$	$d i a g (100,100,100)$
$k i$	$d i a g (60,60,60)$
$k d$	$d i a g (10,10,10)$
$L 0$	$10$
$K 1$	$d i a g (200,200,200)$
$K Θ$	$d i a g (400,400,400)$
$K ω$	$d i a g (60,60,60)$

Table 2 Controller parameters

参数	数值
$k p$	$d i a g (100,100,100)$
$k i$	$d i a g (60,60,60)$
$k d$	$d i a g (10,10,10)$
$L 0$	$10$
$K 1$	$d i a g (200,200,200)$
$K Θ$	$d i a g (400,400,400)$
$K ω$	$d i a g (60,60,60)$

Fig. 3 Trajectory tracking curves and attitude angle tracking curves without interference

Fig. 4 Trajectory tracking errors and attitude angle tracking errors without interference

Fig. 5 Trajectory tracking curves and attitude angle tracking curves with interference

Fig. 6 Trajectory tracking errors and attitude angle tracking errors with interference

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