基于非线性模型预测控制算法的四旋翼无人机控制研究  

Research on control of quadcopter UAV based on nonlinear model predictive control algorithm

作　　者：刘翔 魏莹 马飞越 吴敏 陈磊 查辉 LIU Xiang;WEI Ying;MA Feiyue;WU Min;CHEN Lei;CHA Hui(Shizuishan Power Supply Company,State Grid Ningxia Electric Power Co.,Ltd.,Shizuishan Ningxia 753000,China;Electric Power Research Institute,State Grid Ningxia Electric Power Co.,Ltd.,Yinchuan Ningxia 750011,China)

机构地区：[1]国网宁夏电力有限公司石嘴山供电公司,宁夏石嘴山753000 [2]国网宁夏电力有限公司电力科学研究院,宁夏银川750011

出　　处：《宁夏电力》2024年第4期69-74,82,共7页Ningxia Electric Power

摘　　要：针对四旋翼无人机的运行轨迹跟踪、姿态控制问题,建立了完整四旋翼的动力学模型,并针对该动力学模型设计了一种基于非线性模型预测控制算法的四旋翼无人机控制器,实现了具备输入输出状态约束以及一定的抗干扰能力的四旋翼无人机轨迹跟踪、姿态控制,并通过数值仿真实验验证了该方法的可行性。Addressing the flight trajectory tracking and attitude control of four-rotor unmanned aerial vehicles(UAVs),this study presents a comprehensive dynamic model for quadrotors.A controller based on a nonlinear model predictive control algorithm is designed specifically for this dynamic model,facilitating trajectory tracking and attitude control of the quadrotor UAV with constraints on input and output states,as well as notable anti-interference capabilities.The feasibility of the proposed method is verified by numerical simulation experiments.

关 键 词：四旋翼无人机 路径跟踪 姿态控制 非线性模型预测控制 

分 类 号：TM63[电气工程—电力系统及自动化] V279[航空宇航科学与技术—飞行器设计]