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

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。

Abstract: 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.