PD control of VTOL aircraft trajectory tracking based on double-loop design

Abstract

In this design, a VTOL aircraft system is used as the controlled object. Aiming at the trajectory tracking problem of its position and attitude output, a trajectory tracking control method based on double closed-loop PD control is adopted to design. The trajectory tracking system of VTOL aircraft is decomposed into a track tracking subsystem and a roll tracking subsystem. At the same time, a double closed-loop PD control structure based on position outer loop and attitude inner loop is constructed, and a PD controller based on feedforward compensation is designed. The pole assignment method is used to set and select PD parameters. The stability of the double closed-loop system is ensured by the engineering method of making the reaction speed of the inner loop greater than that of the outer loop. Then, MATLAB software is used to simulate whether the control system can track the given trajectory. Simulation results show that this method simplifies the design process of the control system and makes certain that VTOL aircraft can track arbitrary trajectory outputs with three state outputs as soon as possible, thus meeting the needs of underactuated VTOL aircraft for arbitrary trajectory tracking.