Quadrotor UAV trajectory tracking based on iterative self learning control

摘要

In order to solve the problems in the traditional control method of Quadrotor UAV, Such as weak anti-interference ability and system modeling error has a greater impact on the tracking performance, A trajectory tracking algorithm based on self-learning control is designed. The algorithm can control the object accurately by the iterative correction. To control the unknown object in a certain time, have good anti-interference ability, It has good control effect for the uncertain system and nonlinear coupling system, As the structure of the control algorithm is relatively simple, So it is easy to implement in actual system. The simulation results verify the feasibility of the algorithm.