Geometric Control Method for Quadcopter Trajectory Tracking for Wind Shear
This paper proposes a geometric control method combining incremental nonlinear dynamic inversion,which can take into account the wind shear during the trajectory tracking problem of quadcopter.Firstly,we establish a quadcopter dynamics model based on SO(3)group in wind and wind models with wind shear.The trajectory tracking problem is transformed into a state tracking problem by the differential flatness of quadcopters,achieving feed forward control.In the controller design section,the control method of attitude is geometric control,and attitudes do not exhibit singularities.The drag force and aerodynamic torque caused by wind are compensated by incremental nonlinear dynamic inversion.This helps implement linear acceleration control and angular acceleration control.Finally,we simulate different trajectories in dif-ferent wind speed scenarios by Simulink.The simulation results verify that the proposed control method has better tracking performance compared to traditional methods under wind shear interference.
万方数据
维普
