A Novel Open-Closed-Loop Control Strategy for Quadrotor Trajectory Tracking on Real-Time Control and Acquisition Platform

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.

Keywords

• trajectory tracking
• open-closed-loop control
• real-time platform
• maneuverability model