3D Trajectory Tracking of PX4 Quadrotor Based on Improved Dynamic Inversion

Authors

Yueli Hu, 1. College of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China;;2. Microelectronic Research and Development Center, Shanghai University, Shanghai 200072, China;
Weiping Cai, 1. College of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China;;
Wenrong Yang, 2. Microelectronic Research and Development Center, Shanghai University, Shanghai 200072, China;

Abstract

Abstract: An improved dynamic inversion method was proposed for the underactuation and strong coupling in attitude variables of the quadrotors, namely, combining model reference adaptive control (MRAC) with dynamic inversion in the fast variable loop in the system. Through the establishment of dynamic model of the quadrotor and motor model, the control law of the attitude angle and position was deduced. The MATLAB simulation for the scheme was analysed and compared with conventional dynamic inversion, and also simulated in the situation that tracking a given tracjectory with a 10% weight reduction from it's load. Simulation with respect to both scheme show that the improved control structure can quickly adapt to external disturbance and mass change and have higher precision tracking performance than conventional ones.

Recommended Citation

Hu, Yueli; Cai, Weiping; and Yang, Wenrong (2020) "3D Trajectory Tracking of PX4 Quadrotor Based on Improved Dynamic Inversion," Journal of System Simulation: Vol. 27: Iss. 9, Article 10.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss9/10

First Page

1997

Revised Date

2015-07-10

DOI Link

https://doi.org/

Last Page

2007

CLC

V249.1

Recommended Citation

Hu Yueli, Cai Weiping, Yang Wenrong. 3D Trajectory Tracking of PX4 Quadrotor Based on Improved Dynamic Inversion[J]. Journal of System Simulation, 2015, 27(9): 1997-2007.