Nonlinear Adaptive Control Design For Quadrotor Unmanned Aerial Vehicles

Recent developments in high density power storage, integrated miniature actuators and MEMS technology sensors have made autonomous miniaturized flying robots possible. This new situation has paved the way for complex and highly important applications for both military and civilian markets. Autonomous flying vehicles have gained enormous applied potential.This thesis is about the control of autonomous flying vehicle with a focus on micro quad rotors. First, it introduces the application, property and applied potential of the UAV. Secondly, it describes and compares the property of the rotor wing flying vehicle and fixed wing flying vehicle and introducts the controller design and the structure of quad rotor in details. Then it introduces the structures of hardware and the mathematical models for control of quad rotor.In this thesis two controllers are developed.The first one, based on Lyapunov theory and backstepping method, is applied for position attitude and yaw control by EMK model. The thesis defines an error system before developing the controllers for the backstepping technique. Finally the thesis shows there are no algebraic loops and the high order derivative of system state in control system.The second controller is developed by adaptive and backstepping techniques based on the model with uncertain parameters. It also controls position attitude and yaw. This controller defines adaptive update law for uncertain parameters.In the thesis both of the two controllers are stability analysed by the Lyapunov theory. It shows a global uniformly ultimate bounded (GUUB) tracking result of the position and yaw is achieved and stability of closed loop system is guaranteed. So security and reliability are improved in flight control. These approaches are verified by various flight experiments through Matlab/Simulink. The experiment figures show these controllers have good effect in trajectory tracking of position and yaw.