CONTROL METHOD AND APPARATUS FOR QUADROTOR UNMANNED AERIAL VEHICLE, DEVICE, AND READABLE MEDIUM

摘要

A control method and apparatus for a quadrotor unmanned aerial vehicle, a storage medium, and a computer device, which can improve the accuracy of path tracking control of the quadrotor unmanned aerial vehicle. The control method comprises: obtaining target planning information corresponding to the quadrotor unmanned aerial vehicle, the target planning information comprising a desired position and orientation parameter and a desired control parameter (S102); obtaining position and orientation information and control information of an unmanned aerial vehicle system in the current moment, the position and orientation information comprising position information and orientation information (S104); using the position and orientation information, the control information, the desired position and orientation parameter, and the desired control parameter as an input of a model prediction controller to obtain a position control value and an orientation control value output by the model prediction controller (S106); and controlling the quadrotor unmanned aerial vehicle according to the position control value and the orientation control value (S108).