Affiliation:
1. School of Electronics and Information Engineering, Hangzhou Dianzi University, Hangzhou 310018, China
Abstract
This paper presents a novel closed-loop control strategy that can be applied to quadrotor trajectory tracking to improve the control accuracy and stability. Inspired by intelligent creatures, the composite control strategy combines the open-loop mode and closed-loop control to overcome some disadvantages of oscillation and overshoot under feedback control mechanisms. The open-loop mode was realized by the quadrotor maneuverability model, which is proposed to build the bridge between the flight control commands and the desired acceleration. Then, a real-time control and acquisition platform with high-precision positioning, low-delay communication, and asynchronous distribution was built to collect the UAV’s real-time flight trajectory data for training the maneuverability model and to control the quadrotors asynchronously. Based on the platform and the trained model, the composite control mode on the closed-loop of the Proportional–Integral–Derivative (PID) control and the open-loop of the Long Short-Term Memory (LSTM) maneuverability model was implemented and verified. The experimental results show that the open-loop control strategy has a better advantage in the unity of time and space over the existing techniques for improving the UAV dynamic obstacle avoidance capability.
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
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