Design And Implementation Of Path Tracking Control System For Quadrotor UAV

Because of its simple structure and flexible control,the four-rotor UAV has the characteristics of vertical take-off,vertical descent,air hovering and stable flight at low altitude.It has been widely used in many fields and has become a research hotspot at home and abroad.However,the quadrotor UAV is a very complex system with high nonlinearity,strong coupling and lack of driving,which leads to the establishment of its dynamic model and the tracking control of the flight path.Difficulty.In recent years,with the development of the theory of the four-rotor UAV,the flight principle and dynamics model of the quadrotor UAV have been continuously improved.The path tracking control algorithm for the quadrotor UAV has been developed,but the most widely used Still the PID algorithm.PID algorithm is a typical algorithm in classical control.It has the advantages of simple model,easy debugging and good control robustness.However,the PID algorithm is a linear method,and the control of nonlinear systems such as quadrotor UAVs leads to loss of performance.The Auto/Active Distribute Rejection Controller(ADRC)algorithm is improved for the defect of the PID algorithm.It not only has all the advantages of the PID algorithm,but also has better dynamic control performance.The core part of the ADRC algorithm is the state observer,which has good robustness by observing the disturbance from the outside of the system and compensating the controller of the system.The ADRC-based path tracking controller was designed on the DJI M100 quadrotor UAV and the parameter tuning of ADRC was completed.Experiments on path tracking control show that ADRC has good response speed and dynamic stability for path tracking control of quadrotor UAV,and the accuracy of path tracking is very satisfactory.Finally,based on the ADRC controller,the flight control management system of the drone is designed and implemented,and the system is tested to verify the system availability.