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为了解决四旋翼飞行器在外界扰动影响和系统模型参数存在不确定性情况下的精确轨迹跟踪控制问题,设计并验证了一种四旋翼飞行器的非线性轨迹跟踪控制器。首先建立了考虑执行机构特性的四旋翼飞行器数学模型,并将虚拟控制量映射到了实际中对电机的控制;然后通过在反步法轨迹跟踪控制中加入积分项,设计了一种基于积分型反步法的非线性轨迹跟踪控制器,消除模型参数不确定性及外界干扰引起的误差,仿真结果验证了该方法的可行性;最后,利用QBall2四旋翼飞行实验平台,对所设计的非线性轨迹跟踪控制器进行验证,实际飞行实验结果表明了所设计控制器的有效性,提高了实际飞行过程中外界干扰和不确定性下的四旋翼飞行器轨迹跟踪控制的精度。
In order to solve the problem of accurate trajectory tracking control of quadrotorcraft under the influence of disturbance and the uncertainty of system model parameters, a quadruped rotor nonlinear tracking controller is designed and validated. Firstly, the mathematical model of quadrotor which considers the characteristics of actuator is established and the virtual control volume is mapped to the control of the motor in practice. Then, by integrating the integral term in the backstepping trajectory tracking control, Step method of non-linear trajectory tracking controller to eliminate the uncertainty of the model parameters and external interference caused by the error, the simulation results verify the feasibility of the method; Finally, the use of QBall2 quadrotor flight experimental platform for the design of the non-linear trajectory Tracking controller to verify the actual flight test results show that the controller is designed to improve the effectiveness of the actual flight outside the disturbance and uncertainty under the quadruped rotor tracking control accuracy.