基于模型参考动态逆的四旋翼机器人轨迹跟踪控制研究

Four-Rotor Robot Trajectory Tracking Control Based on Model Reference Dynamic Inversion

摘要: 研究“X”型布局的四旋翼机器人的轨迹跟踪问题。为减小模型参数的不确定性和外界扰动对控制器的影响，本文提出在姿态回路动态逆控制器中加入模型参考自适应方法，采用动态逆方法消除原模型的非线性，模型参考自适应方法解决参数摄动与外部扰动带来的稳态误差。仿真结果表明四旋翼的轨迹跟踪控制器是可行有效的，模型参考自适应与动态逆方法的结合具有良好的鲁棒性。

Abstract: This paper deals with the trajectory tracking problem of “X” configuration quad-rotor robots. In order to reduce the effects of model parameter uncertainty and external disturbances, the model reference adaptive method united with dynamic inversion is adopted in the attitude loop controller. The nonlinear dynamic inversion is used to eliminate the nonlinear characteristics, the model reference method is used to weaken the steady-state error caused by the parameter perturbation and external disturbances. The simulation results show that the quad-rotor robot trajectory tracking controller is feasible and effective and the combination of model reference adaptive and dynamic inversion method shows good robustness.