Trajectory Tracking Of UAV Based On Model Predictive Control

In recent years,with a good application in agriculture,forestry,petroleum,electricity,insurance seized land resources,marine meteorology,water conservancy and city planning and other fields,this new UAV has gradually entered the sight of people,the flight control technology has also attracted the attention of many scholars at home and abroad.Although the UAV flight control the emergence of a large number of research results,but because of the UAV is a multivariable nonlinear system of underactuated,strong coupling,multi constraint,the precision control methods still require further exploration.The model predictive control algorithm has the advantage of dealing with nonlinear and multi constrained problems.It has been paid more and more attention in the application of UAV flight control technology.Because the model predictive control algorithm is essentially the online rolling optimization process in the control domain.Therefore,in the implementation process of the algorithm,the system will be designed according to the objective function to calculate the predicted optimal control sequence and the corresponding output value sequence at each sampling time,and the optimal control sequence of the first value as the current control signal is applied to the system,which makes the algorithm characterized by repeated online the calculation of the high computational complexity has become a key factor restricting its application.In this paper,a control strategy is proposed to reduce the computational complexity of the system without changing the original control information.First of all,with a Qball-X4 UAV as the control object,and expounds the control principle of the UAV,and trajectory tracking man-machine control platform based on Qball-X4,the dynamic equations are derived from the attitude angle and the corresponding position of mathematical model,as a basis for implementation of the control strategy.Then,the basic principle of model predictive control algorithm is described,combined with the UAV attitude angle of mathematical model,design a model predictive control algorithm based on attitude angle controller,further build a tracking control system,tracking control system on the control effect of the simulation experiment in the track and.On the basis of the above problems,this paper proposes a conditional trigger strategy for the high computational complexity of the model predictive control algorithm.The introduction of conditional triggering mechanism reduces the number of online computation of the controller,thus reducing the amount of on-line computation.The stability analysis of the UAV trajectory tracking control system based on MPC is presented,and the simulation results are given.Finally,aiming at the problem that the threshold of the condition triggering mechanism is too low,the basic condition triggering strategy is improved,and the original trigger mechanism is adjusted to the switching mode in order to improve the selection of the control effect.The UAV trajectory tracking method based on the switching mode predictive controller is proposed and designed.The experimental results verify the feasibility and effectiveness of the proposed method.