The Controller Design of Quadrotor UAV Based on Internal Model Control
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- 英文论文题名：The Controller Design of Quadrotor UAV Based on Internal Model Control
- 论文作者：Qiang Gao ; Mei Du ; Yuehui Ji
- 英文论文作者：Qiang Gao ; Mei Du ; Yuehui Ji ; Tianjin Key Laboratory For Control Theory & Applications in Complicated Systems ; Tianjin University of Technology ; School of Electrical Engineering ; Tianjin University of Technology
- 年：2017
- 作者机构：Tianjin Key Laboratory For Control Theory & Applications in Complicated Systems,Tianjin University of Technology;School of Electrical Engineering,Tianjin University of Technology;
- 英文论文关键词：Quadrotor UAV ; Tracking differentiator ; Internal model control ; Linear time-varying parameter systems
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：V249.1;V279
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：838k
- 原文格式：D
- 会议级别：全国
摘要
In view of nonlinear,external disturbances and strong coupling features of the quadrotor UAV.A combination of internal model control and tracking differentiator(TD-IMC) is proposed to design a controller for Quadrotor.The function matrix of the quadrotor can be obtained by the LPV method linearizing the nonlinear model.Tracking differentiator(TD) is introduced to arrange the transition process,and utilizing TD's high quality filter and tracking effect,IMC controller is designed to control the quadrotor model,so that the attitude and trajectory tracking can be realized.The simulation results indicate that the control method proposed in this paper has stronger robustness and disturbance rejection performance.
In view of nonlinear,external disturbances and strong coupling features of the quadrotor UAV.A combination of internal model control and tracking differentiator(TD-IMC) is proposed to design a controller for Quadrotor.The function matrix of the quadrotor can be obtained by the LPV method linearizing the nonlinear model.Tracking differentiator(TD) is introduced to arrange the transition process,and utilizing TD's high quality filter and tracking effect,IMC controller is designed to control the quadrotor model,so that the attitude and trajectory tracking can be realized.The simulation results indicate that the control method proposed in this paper has stronger robustness and disturbance rejection performance.
In view of nonlinear,external disturbances and strong coupling features of the quadrotor UAV.A combination of internal model control and tracking differentiator(TD-IMC) is proposed to design a controller for Quadrotor.The function matrix of the quadrotor can be obtained by the LPV method linearizing the nonlinear model.Tracking differentiator(TD) is introduced to arrange the transition process,and utilizing TD's high quality filter and tracking effect,IMC controller is designed to control the quadrotor model,so that the attitude and trajectory tracking can be realized.The simulation results indicate that the control method proposed in this paper has stronger robustness and disturbance rejection performance.
引文
[1]Gonzalez-Vázquez,S,Moreno-Valenzuela,J.A New Nonlinear PI/PID Controller for Quadrotor Posture Regulation[C]//Electronics,Robotics and Automotive Mechanics Conference.IEEE,2010:642-647.
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[3]Madani T,Benallegue A.Backstepping Control for a Quadrotor Helicopter[C]//Ieee/rsj International Conference on Intelligent Robots and Systems.2006:3255-3260.
[4]Zheng F Y,Gong H J,Zhen Z Y.Adaptive constraint backstepping fault-tolerant control for small carrier-based unmanned aerial vehicle with uncertain parameters[J].Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering,2016,230.
[5]Yaonan Wang,Yuanli Chenxie,Jianhao Tan,et al.Fuzzy radial basis function neural network PID control system for a quadrotor UAV based on particle swarm optimization[C]//IEEE International Conference on Information and Automation.IEEE,2015.
[6]Wong T L,Khan R R,Lee D.Model linearization and H∞,controller design for a quadrotor unmanned air vehicle:Simulation study[C]//International Conference on Control Automation Robotics&Vision.IEEE,2015.
[7]Garcia C E,Morari M.Internal model control.A unifying review and some new results[J].Ind.eng.chem.process Des.dev,1982,21(2):472-484.
[8]Han Jingqing,Wang Wei.Nonlinear tracking differential.Science and mathematics,1994,14(2):177-183.
[9]pong M W,Hutchinson S,Vidyasagar M.Robot modeling and control[M]:Hoboken NJ:John Wiley&Sons,2006.
[10]Kim J,Kang M S,Park S.Accurate Modeling and Robust Hovering Control for a Quad-rotor VTOL Aircraft[J].Journal of Intelligent&Robotic Systems,2010,57:9-26.
[11]C.Hoffmann and H.Werner,"A survey of linear parametervarying control applications validated by experiments or highfidelity simulations,"IEEE Transactions on Control Systems Technology,vol.23,no.2,pp.416-433,2014.
[12]Wang Xinhua,Chen Zengqiang,Yuan Zhuzhi.The whole fast nonlinear tracking differentiator[J].control theory and applications,2003,20(6):875-878.
[13]Garcia,Carlos E.,and M.Morari.Internal model control.2.Design procedure for multivariable systems.Industrial&Engineering Chemistry Research 26.3,1987:632-633.
[14]Rupp D,Guzzella L.Adaptive internal model control with application to fueling control[J].Control Engineering Practice,2010,18(8):873-881.
[15]Barkovsky Y,Tyaglov M.Hurwitz rational functions[J].Linear Algebra&Its Applications,2011,435(435):1845-1856.
[2]Xu R,zgüner,ümit.Sliding Mode Control of a Quadrotor Helicopter[C]//2007:4957-4962.
[3]Madani T,Benallegue A.Backstepping Control for a Quadrotor Helicopter[C]//Ieee/rsj International Conference on Intelligent Robots and Systems.2006:3255-3260.
[4]Zheng F Y,Gong H J,Zhen Z Y.Adaptive constraint backstepping fault-tolerant control for small carrier-based unmanned aerial vehicle with uncertain parameters[J].Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering,2016,230.
[5]Yaonan Wang,Yuanli Chenxie,Jianhao Tan,et al.Fuzzy radial basis function neural network PID control system for a quadrotor UAV based on particle swarm optimization[C]//IEEE International Conference on Information and Automation.IEEE,2015.
[6]Wong T L,Khan R R,Lee D.Model linearization and H∞,controller design for a quadrotor unmanned air vehicle:Simulation study[C]//International Conference on Control Automation Robotics&Vision.IEEE,2015.
[7]Garcia C E,Morari M.Internal model control.A unifying review and some new results[J].Ind.eng.chem.process Des.dev,1982,21(2):472-484.
[8]Han Jingqing,Wang Wei.Nonlinear tracking differential.Science and mathematics,1994,14(2):177-183.
[9]pong M W,Hutchinson S,Vidyasagar M.Robot modeling and control[M]:Hoboken NJ:John Wiley&Sons,2006.
[10]Kim J,Kang M S,Park S.Accurate Modeling and Robust Hovering Control for a Quad-rotor VTOL Aircraft[J].Journal of Intelligent&Robotic Systems,2010,57:9-26.
[11]C.Hoffmann and H.Werner,"A survey of linear parametervarying control applications validated by experiments or highfidelity simulations,"IEEE Transactions on Control Systems Technology,vol.23,no.2,pp.416-433,2014.
[12]Wang Xinhua,Chen Zengqiang,Yuan Zhuzhi.The whole fast nonlinear tracking differentiator[J].control theory and applications,2003,20(6):875-878.
[13]Garcia,Carlos E.,and M.Morari.Internal model control.2.Design procedure for multivariable systems.Industrial&Engineering Chemistry Research 26.3,1987:632-633.
[14]Rupp D,Guzzella L.Adaptive internal model control with application to fueling control[J].Control Engineering Practice,2010,18(8):873-881.
[15]Barkovsky Y,Tyaglov M.Hurwitz rational functions[J].Linear Algebra&Its Applications,2011,435(435):1845-1856.