Algorithm of UAV flight disturbance control based on dynamic trajectory learning

2018 3rd International Conference on Insulating Materials, Material Application and Electrical Engineering

材料科学;无线电电子学;电工学

Liu, Xiaoli^1 ; Lu, Xinghua^2

Guangzhou Huali Science and Technology Vocational College, Guangzhou, China^1

Huali College Guangdong University of Technology, Guangdong Guangzhou, China^2

关键词: Adaptive optimal control;    Disturbance control;    Dynamic trajectories;    External disturbances;    Learning trajectories;    Rejection controls;    Time-frequency decomposition;    Tracking compensation;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/452/4/042089/pdf
DOI  :  10.1088/1757-899X/452/4/042089

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

UAV is prone to yaw due to disturbance in dynamic flight with load, in order to improve the anti-disturbance ability of UAV, a flight disturbance control algorithm for UAV based on dynamic trajectory learning is proposed. The constraint parameter model of UAV flight control is constructed by time-delay tracking compensation model in homogeneous space, and the time-frequency decomposition of inertial constraint parameters of UAV flight rejection control is carried out by using Laplace transform. Adaptive weighted learning algorithm is used to deal with the dynamic trajectory of UAV under external disturbance. The disturbance error is compensated by adding a post integral at the end point of the learning trajectory. Combined with dynamic trajectory learning and dynamic motion primitive real-time feedback method, the real-time deviation correction of UAV flight trajectory is realized, and the adaptive optimal control of UAV flight disturbance is realized. The simulation results show that the proposed method can correct the error of UAV flight disturbance and improve the stability of UAV flight control.