Robust Controller Design Of UAV Based On Trajectory Linearization Method

UAV which is versatile, low cost, flexible and has ability to survive, can be operated by its own controller. It plays an extremely important role in modern warfare and has a very promising future in civilian areas. However, it is own multi-variable and strong coupling which make the design of the controller harder. In this paper, a trajectory linearization controller which is a method of nonlinear control, has been designed for controlling the trajectory tracking of the UAV. At the same time, in order to improve the robustness, we propose the robust controller. Then the new controller can improve the performance and the limitations of the original controller.The main contents of the study include the following aspects:Firstly, according to the model and aircraft aerodynamics knowledge, derived a mathematical model of six degrees of freedom drone aircraft. Then, according to the mathematical model, we use Matlab/Simulink software to build the model and finish the simulation.Secondly, we analyze the theories and theorems about trajectory linearization controller and descript the way of designing the controller based on trajectory linearization method. Then we analyze and design the controller according to the UAV.Then, through the analysis of the theories, we design the total UAV trajectory linearization controller. We use the trajectory linearization method to calculate the pseudo-inverse system for tracking the nominal input value and calibrating.Finally, we introduce a simple robust controller to improve the robustness of the existing problem of trajectory linearization controller. Verified when there exists uncertainty, the performance of the new controller is superior to the original controller’s.