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四旋翼飞行器的姿态动力学模型是多输入多输出(MIMO)、强耦合和非线性的。首先,对四旋翼飞行器动力学进行了数学建模。接着,提出了一种基于积分型的反步控制方法应用于四旋翼飞行器的稳定飞行及轨迹跟踪控制。通过引入跟踪误差的积分项,从而降低飞行器进行轨迹跟踪时的稳态误差。整个控制系统采用双闭环回路结构,内回路用于稳定飞行器的姿态角,而外回路用于控制飞行器的高度和水平方向的位移。最后,通过与传统的反步(Backstepping)控制法做实验对比,结果表明,应用积分反步(Integral Backstepping,IB)控制算法的飞行器能够较为精确地完成飞行器轨迹跟踪的任务。
The attitude dynamics models of quadrotors are Multiple Input Multiple Output (MIMO), Strong Coupling and Nonlinear. First of all, the dynamics of quadrotorcraft are mathematically modeled. Then, a stochastic backstepping control method based on integral type is proposed for the stability flight and trajectory tracking control of quadrotorcraft. By introducing the integral term of tracking error, the steady state error of the aircraft during trajectory tracking can be reduced. The entire control system uses a double closed-loop structure, the inner loop is used to stabilize the attitude of the aircraft, and the outer loop is used to control the height of the aircraft and the horizontal displacement. Finally, compared with the traditional backstepping control method, the results show that the aircraft using Integral Backstepping (IB) control algorithm can accomplish the task of trajectory tracking more accurately.