Research On Trajectory Tracking Control Of Quadrotor

Due to its high flexibility and maneuverability,quadrotor has broad application prospects in civilian and military fields.In this work,trajectory tracking control,multi-sensor information fusion and trajectory planning of the quadrotor have been investigated.The dynamic model of the quadrotor was modeled based on Newton-Euler formalism and the rotation matrix is adopted to describe the attitude of the quadrotor.In order to realize the trajectory tracking of the quadrotor,an inner and outer loop control method for trajectory tacking and a single loop control method for trajectory tacking are designed,respectively.Two control laws are designed using sliding mode control based on Lyapunov stability.The tracking performance of the proposed controller is validated by tracking three representative trajectories.Considering the modeling error and system noise in the actual situation,an adaptive trajectory tracking controller based on inner and outer loop is further proposed.The stability and robustness of the proposed adaptive controller are tested by simulation in presence unknown parameters and bounded noise.Considering the features of binocular vision system and inertial navigation system,the combination of binocular vision system aided inertial navigation system is proposed.The state equation is established according to the inertial navigation system and the measurement equation is built based on the binocular vision system.The Kalman filter is adopted to fuse the information provided by the two systems.The discrete system equations are further built form an application perspective.Taking into consideration nonlinearity and the mismatch of update rate,multi-rate extended Kalman filter and multi-rate unscented Kalman filter are proposed to fuse the information of the two sensing systems.The performance of the whole navigation system is verified by simulation.Whereas the quadrotor is a differential flat system,a trajectory planning method based on differential flatness is designed.Through parameterized flat outputs by polynomial function,an optimal problem can be transformed into a quadratic programming problem.The effectiveness of the proposed algorithm is tested by simulation experiments in two scenariosThe experimental platform for quadrotor is established.Based on Matlab simulation,the proposed control algorithm and information fusion algorithm are programmed in STM32 processor and the feasibility of the algorithm is verified by experiments.