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DOI:
飞控与探测:2021,(3):01-07
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基于变量集结预测控制的四旋翼无人机控制器设计
刘 斌, 李佳窈, 杨奕帆, 周 镇
(南昌航空大学 信息工程学院)
Controller Design for Quad-Rotor UAV Based on Variable Aggregation Model Predictive Control
LIU Bin, LI Jiayao, YANG Yifan, ZHOU Zhen
(Information Engineering Institute Nanchang Hangkong University)
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中文摘要: 针对四旋翼无人机路径跟踪问题,设计了一种基于变量集结预测控制的控制器。首先以四旋翼无人机状态空间模型为基础建立预测模型;接着设计控制器时采用分段集结的策略把控制量集结成三段优化序列以减少优化计算量,并降低优化保守性,为了进一步加强系统稳定性,控制器引入终端代价函数和终端约束;最后用四旋翼无人机的动力学模型作为被控对象进行仿真验证,结果表明:该控制器能使四旋翼无人机在三轴方向均能实现一个良好的路径跟踪效果。与传统方法相比,这种基于变量集结的预测控制策略能够减小在线优化量,更适合四旋翼无人机飞控芯片的应用。
中文关键词: 四旋翼无人机;路径跟踪;预测控制;分段集结;终端代价函数
Abstract:Aiming at the problem of path tracking of quad-rotor UAV, a controller based on variable aggregate predictive control was designed. This paper first builds a predictive model based on the state space model of the quad-rotor UAV. Then, the controller is designed into a three-segment optimization sequence using a piecewise aggregation strategy when designing the controller to reduce the amount of optimization calculations and reduce the optimization conservativeness. In order to further enhance the stability of the system, the controller introduces a terminal cost function and terminal constraints. Finally, the dynamics model of the quad-rotor UAV is used as the controlled object for simulation verification. The results show that the controller can make the quad-rotor UAV in all three axes achieve a good path tracking effect. Compared with traditional methods, this predictive control strategy based on variable aggregation can reduce the amount of online optimization and is more suitable for the application of quad-rotor UAV flight control chips.
keywords: quad-rotor UAV; path tracking; predictive control; piecewise build-up; terminal cost function
文章编号:20210301     中图分类号:V249    文献标志码:A
基金项目:国家自然科学基金项目(61963030);南昌航空大学研究生创新基金(YC2018020)
作者单位
刘 斌 南昌航空大学 信息工程学院 
李佳窈 南昌航空大学 信息工程学院 
杨奕帆 南昌航空大学 信息工程学院 
周 镇 南昌航空大学 信息工程学院 
Author NameAffiliation
LIU Bin Information Engineering Institute Nanchang Hangkong University 
LI Jiayao Information Engineering Institute Nanchang Hangkong University 
YANG Yifan Information Engineering Institute Nanchang Hangkong University 
ZHOU Zhen Information Engineering Institute Nanchang Hangkong University 
引用文本:
刘 斌,李佳窈,杨奕帆,周 镇.基于变量集结预测控制的四旋翼无人机控制器设计[J].飞控与探测,2021,(3):01-07.

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