基于变量集结预测控制的四旋翼无人机控制器设计

针对四旋翼无人机路径跟踪问题，设计了一种基于变量集结预测控制的控制器。首先以四旋翼无人机状态空间模型为基础建立预测模型；接着设计控制器时采用分段集结的策略把控制量集结成三段优化序列以减少优化计算量，并降低优化保守性，为了进一步加强系统稳定性，控制器引入终端代价函数和终端约束；最后用四旋翼无人机的动力学模型作为被控对象进行仿真验证，结果表明：该控制器能使四旋翼无人机在三轴方向均能实现一个良好的路径跟踪效果。与传统方法相比，这种基于变量集结的预测控制策略能够减小在线优化量，更适合四旋翼无人机飞控芯片的应用。

Controller Design for Quad-Rotor UAV Based on Variable Aggregation Model Predictive Control

Aiming at the problem of path tracking of quad-rotor UAV, a controller based on variable aggregate predictive control was designed. This paper first builds a predictive model based on the state space model of the quad-rotor UAV. Then, the controller is designed into a three-segment optimization sequence using a piecewise aggregation strategy when designing the controller to reduce the amount of optimization calculations and reduce the optimization conservativeness. In order to further enhance the stability of the system, the controller introduces a terminal cost function and terminal constraints. Finally, the dynamics model of the quad-rotor UAV is used as the controlled object for simulation verification. The results show that the controller can make the quad-rotor UAV in all three axes achieve a good path tracking effect. Compared with traditional methods, this predictive control strategy based on variable aggregation can reduce the amount of online optimization and is more suitable for the application of quad-rotor UAV flight control chips.