This paper presents a mathematic dynamic model of a quadrotor unmanned aerial vehicle (QUAV) by using the symbolic regression approach and then proposes a hierarchical control scheme for trajectory tracking. The symbolic regression approach is capable of constructing analytical quadrotor dynamic equations only through the collected data, which relieves the burden of first principle modeling. To facilitate position tracking control of a QUAV, the design of controller can be decomposed into two parts: a proportional-integral controller for the position subsystem is first designed to obtain the desired horizontal position and the backstepping method for the attitude subsystem is developed to ensure that the Euler angles and the altitude can fast converge to the reference values. The effectiveness is verified through experiments on a benchmark multicopter simulator.

中文翻译：

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四旋翼无人机动态建模与控制的符号回归方法

利用符号回归方法，提出了一种四旋翼无人机的数学动力学模型，提出了一种轨迹跟踪的分层控制方案。符号回归方法仅通过收集的数据即可构建解析四旋翼动力学方程，从而减轻了第一原理建模的负担。为了便于对QUAV进行位置跟踪控制，可以将控制器的设计分解为两部分：首先设计用于位置子系统的比例积分控制器以获得所需的水平位置，然后开发用于姿态子系统的反推方法以确保欧拉角和高度可以快速收敛到参考值。