基于增量式非线性动态逆的四旋翼无人机姿态控制
Incremental Nonlinear Dynamics Inversion for Attitude Control of Quadrotor
摘要:
针对四旋翼无人机的姿态控制问题，本文设计了一种基于增量控制和非线性动态逆的控制器，用来降低传统动态逆控制策略对于模型依赖程度。以Pixhawk开源飞控板为基础，使用非线性动态逆、增量式非线性动态逆的控制方法构建姿态控制模块的角度、角速度控制环，通过PX4固件的软件在环仿真技术以及Gazebo仿真软件，验证该非线性控制器在外部扰动下的稳定性和鲁棒性。
Abstract:
In view of the attitude control of quadrotor, a controller based on Incremental Control and Non-linear Dynamic Inversion (NDI) is designed to reduce the dependence of the traditional Dynamic Inversion control strategy on the model. Based on the Pixhawk open source control board, the angle and angular velocity control loop of the attitude control module is constructed by using the Nonlinear Dynamic Inversion (NDI) and Incremental Nonlinear Dynamic Inversion (INDI) control method. The stability and robustness of the nonlinear controller under external disturbances are verified through the software in the loop (SITL) simulation technology of PX4 firmware and Gazebo simulation software.
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