多约束条件下四旋翼机动轨迹跟踪一体化控制方法

The increasing demand for high-dynamic flight of quadrotors has made it an increasingly popular research topic. In order to solve the state tracking control problem of aggressive trajectories when quadrotors undertake activities such as navigating the cracks in the ruins and the gaps in the forest, this work develops an integrated control strategy based on model predictive control. This technique incorporates integrated tracking control of numerous reference states as well as aggressive trajectory planning under multiple limitations. Flight tests have verified the superior performance of the proposed control method in this paper compared with the feed-forward PID control method in tracking the planned aggressive trajectories. In-flight tests, quadrotors successfully crossed the narrow gap of 60° roll angle, and their actual roll angle reached a large angle of 60°, while the z-axis error is only 0.065 m.