无人机高机动抗扰轨迹跟踪控制方法

It is difficult for the traditional quadrotor control method with poor control effect in aggressive flight and low control accuracy to track trajectory with high speed and high acceleration. To solve this problem, a control method is proposed based on incremental nonlinear dynamic inversion(INDI) and differential flatness, as well as the complementary filter. The proposed control method not only improves the tracking accuracy of aggressive trajectories, but also enhances the anti-disturbance ability. Since the angular acceleration, which the proposed method is very sensitive to, cannot be directly obtained, a variety of angular acceleration estimation methods are designed for comparison, and the complementary filtering method with the best performance is selected through the flight test. The experimental results show that the proposed control method using INDI and differential flatness based on complementary filter can control the quadrotor to track aggressive trajectories quickly and accurately, and has strong anti-interference ability.