Quadcopter UAVs trajectory tracking control based on self-coupling PD
For input-constrained quadcopter UAVs,in order to enable them to track the desired trajec-tory quickly and stably,a trajectory tracking control method based on self-coupling PD(SCPD)is used.Ac-cording to SCPID control theory,three independent SCPD control subsystems are established for the position loop and attitude loop of quadcopter UAVs,and an error-based velocity factor model is designed to hover at fixed point and trajectory tracking.The dynamic response performance test and anti-interference performance comparison with the traditional PID-based flight control system were carried out.The simulation results show that the quadcopter flight control system based on SCPD control has better dynamic response performance and strong anti-interference ability,which verifies the effectiveness of SCPD control in the field of rotorcraft UAV trajectory tracking control.
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万方数据
维普
