Trajectory tracking control of a VTOL unmanned aerial vehicle using offset-free tracking MPC  

作　　者：Tayyab MANZOOR Yuanqing XIA Di-Hua ZHAI Dailiang MA 

机构地区：[1]School of Automation,Beijing Institute of Technology,Beijing 100081,China

出　　处：《Chinese Journal of Aeronautics》2020年第7期2024-2042,共19页中国航空学报（英文版）

基　　金：co-supported by the National Natural Science Foundation of China(Nos.61225015,61105092,61422102,and 61703040);the Beijing Natural Science Foundation,China(No.4161001);the China Postdoctoral Science Foundation(No.2017M620640)。

摘　　要：Designing a stable and robust flight control system for an Unmanned Aerial Vehicle(UAV)is an arduous task.This paper addresses the trajectory tracking control problem of a Ducted Fan UAV(DFUAV)using offset-free Model Predictive Control(MPC)technique in the presence of various uncertainties and external disturbances.The designed strategy aims to ensure adequate flight robustness and stability while overcoming the effects of time delays,parametric uncertainties,and disturbances.The six degrees of freedom DFUAV model is divided into three flight modes based on its airspeed,namely the hover,transition,and cruise mode.The Dryden wind turbulence is applied to the DFUAV in the linear and angular velocity component.Moreover,different uncertainties such as parametric,time delays in state and input,are introduced in translational and rotational components.From the previous work,the Linear Quadratic Tracker with Integrator(LQTI)is used for comparison to corroborate the performance of the designed controller.Simulations are computed to investigate the control performance for the aforementioned modes and different flight phases including the autonomous flight to validate the performance of the designed strategy.Finally,discussions are provided to demonstrate the effectiveness of the given methodology.

关 键 词：Autonomous flight control Model Predictive Control(MPC) Time delays Trajectory tracking Unmanned Aerial Vehicle(UAV) 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] V279