To address the trajectory tracking control problem of quadrotor UAVs in complex environments, this paper proposes a fully actuated anti-disturbance motion control method based on a dynamic compensator and extended state observer. Compared to the traditional position-attitude dual-loop control architecture, this paper transforms the uncertain 6-DOF quadrotor model into a mixed-order fully actuated system model via state transformation, which facilitates the design of an integrated input-to-state controller. Secondly, this paper presents a composite control law based on a linear extended state observer. The inner loop consists of a linear extended state observer that accurately estimates unmeasurable states and unknown disturbances in real time, with active compensation via the composite control law. The outer loop employs a fully actuated controller combined with a dynamic compensator, providing additional degrees of freedom to enhance control precision, while the controller gain depends only on a single parameter, simplifying parameter tuning process. Simulation results demonstrate that the proposed method enables quadrotor UAVs to track spiral ascent trajectories with high precision, showing significant advantages in altitude and yaw angle control. The approach effectively addresses the anti-disturbance control problem of quadrotor UAVs and provides a systematic solution for trajectory tracking motion control.
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Unmanned aerial vehicles (UAVs) can perform target identification and provide ships with detailed images of the target area. In order to realize the rapid data acquisition and unloading of UAVs as a means of high-altitude communication at sea, this paper proposes a 3D trajectory optimization method for UAVs based on the hp-adaptive pseudospectral method under multiple constraints with the goal of minimizing the communication task time.
The method first models the dynamics of a fixed-wing UAV in 3D space and describes the trajectory optimization problem of its communication as a state-constrained optimal control problem. Based on the ship motion model, a channel model is established in combination with the positioning error of the moving target; considering the energy limitations of the UAV, the communication constraints and energy constraints are added on the basis of the original problem, and a trajectory optimization method based on the hp-adaptive Radau pseudospectral method is proposed, which transforms the original problem into a finite-dimensional nonlinear programming problem and solves it. The simulation analysis is carried out under five constraint scenarios, then compared with the results of the p-pseudospectral method.
Given positioning error, the UAV and ship can still communicate rapidly under various constraints.
The results of this study provide an effective solution for maritime communication systems and provide references for the trajectory optimization problem in communication between UAVs and ships.
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