Research on UAV Trajectory Tracking Control System Based on Feedback Linearization Control–Fractional Order Model Predictive Control

Aiming at the problem of the nonlinear, strongly coupled, and underdriven trajectory tracking instability of a quadrotor unmanned aerial vehicle (UAV), this thesis proposes a feedback linearization and fractional order model predictive control strategy based on feedback linearization by modeling the dynamics of the UAV control system and linearizing the nonlinear model of attitude control. A dual closed-loop control structure, feedback linearization control (FLC) for a position loop, and fractional order model predictive control (FOMPC) for an attitude loop are adopted to realize fast position tracking and attitude response. In addition, considering that the fractional order method has the advantage of flexible regulation, the fractional order integral operator is added to the cost function of model predictive control. Finally, the simulation results and the calculation of the root mean square error verify that the proposed method has a fast response speed, small overshoot, stable flight, and good track tracking performance in UAV track tracking.