Research On Target Tracking Control Of Quadrotor UAV Based On Multi Constraints

Due to the good characteristics of vertical take-off and landing,low-cost manufacturing,solo or cooperative flight,quadrotor UAVs have been attracted more and more attention from industry and academia.At present,most of the research on UAV flight control technology is concentrated on attitude control and autonomous trajectory tracking,and less on the engineering application of moving target tracking.Therefore,this paper takes quadrotor UAVs as the research object,under the constraints(wind disturbance,maintaining a fixed distance,obstacles,etc.),the theoretical research and technology of flight control are carried out on the tracking of moving targets and obstacle avoidance control.The main content of the paper is as follows:Firstly,after analyzing the working principle of the quadrotor UAV,a mathematical model of the quadrotor UAV is established,the control system of the quadrotor UAV is divided into a position control system and an attitude control system and the relationship between them is analyzed,the motion characteristics of the target is analyzed and the mathematical model of the moving target tracking is established by combining the quadrotor model.The force and torque received by the quadrotor in the tracking system are used as the control input of the controller to improve the control performance of target tracking.Secondly,in order to track the moving target of the quadrotor UAV,a new asymptotic tracking control method for under-driven quadrotor UAV is proposed.An artificial potential field and passive control(APF & PC)method is introduced in the position system to achieve the high precision tracking of the target at a fixed distance.Meanwhile,an improved super-twisting sliding mode(STSM)control method is used in the attitude system to ensure that the aircraft's attitude converges to the desired value.The stability of the two subsystems is proved based on the passive method and the Lyapunov method respectively.The simulation results show that the proposed control method has a good effect on suppressing external interference,and can achieve the effect of keeping a fixed distance to track moving targets.Moreover,in order to solve the problem of airspace obstacles in practical applications,a target tracking controller of the quadrotor UAV with obstacle avoidance function is proposed to track the moving target.The obstacle avoidance function is added to the artificial potential field that was originally studied,and the new artificial potential field is combined with sliding mode control(SMC)to realize the obstacle avoidance scheme in the moving target tracking process.Radial basis neural network(RBF)algorithm is used to control the attitude system.Lyapunov's method is used to prove the stability of the two subsystems.Finally,the simulation shows that the proposed control method has a faster convergence speed and effectively avoids obstacles under the premise of efficiently completing the fixed-distance target tracking task.