基于IBC-PID控制的四旋翼轨迹跟踪控制

针对四旋翼飞行器在阵风扰动下的轨迹跟踪控制问题,提出一种结合积分反步法控制与PID控制的混合控制算法.首先,分析了四旋翼飞行器的受力情况,并采用牛顿 欧拉法建立其动力学方程；其次,根据时间尺度原理,将四旋翼飞行器的控制结构分成位置控制回路与姿态控制回路,前者采用积分反步法进行抗干扰控制,后者采用PID控制进行镇定；同时,引入粒子群算法,利用其寻优优势对所设计的控制器参数进行调整；最后,通过一个螺旋线跟踪仿真对本文所提控制算法的有效性进行了验证.仿真结果表明,本文所提算法具有一定的鲁棒性、稳定性与适用性,能够满足四旋翼轨迹跟踪控制的需求.

Trajectory tracking control for a quadrotor based on hybrid IBC-PID control

Aiming at the issue of trajectory tracking control of a quadrotor under wind gust disturbance, a hybrid control algorithm combining the integral backstepping control with PID control is proposed. Firstly, the force situation of the quadrotor was analyzed and the dynamical equation was established by Newton-Euler method.Secondly, according to the time scale principle, the control structure of the quadrotor was divided into position control loop and attitude control loop. The former adoptedthe integral backstepping control method to restrain the external disturbance The latterwas stabilized by PID control. At the same time, the particle swarm optimization algorithm was introduced to adjust the parameters of proposed control algorithm. Finally, the validity of the control algorithm was verified through a spiral line. Simulation results show that the proposed algorithm hasthe ability of robustness, stability and applicability, which can meet the needs of quadrotor tracking control.