With the increasing radius of life now, the demand for drones has shown a blowout growth. In order to improve the tracking accuracy and control stability of UAV, this paper presents a UAV control method based on model predictive control algorithm. Firstly, the four-rotor UAV model is established in the rigid body kinematics and dynamics, and the physical modeling of the UAV is carried out in the ideal condition. After that, the navigation coordinate system and the body coordinate system are introduced, which makes the relevant force analysis and coordinate transformation easier to understand. Then, the model predictive control algorithm is fused with the four-rotor UAV model. The control strategy based on online optimization has the advantages of constrained system variables, rolling optimization and quadratic programming in the optimal control to improve the control accuracy of the UAV. Then, the four-rotor UAV is modeled on MATLAB. Its controller controls the acceleration of the UAV by controlling the tilt Angle of the propeller, and the output of the controller is the target value of the attitude Angle. Finally, it is pointed out that model predictive control can also be applied to UAV cluster and real life, which increases the practicability and scientificity of this study.
Research on UAV Trajectory Tracking Control Based on Model Predictive Control
2024-07-26
1248554 byte
Conference paper
Electronic Resource
English
UAV Trajectory Tracking Based on Model Predictive Control
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