Research On Adaptive Control Method For Quadrotor Uav

With the development and maturity of embedded processor, micro-sensor tech-nology and control theory, Micro quadrotor UAV is gradually developed to be moree?cient and multi-functional, and it is widely used in military, civilian, scientificresearch and other fields. The special mechanical structure and dynamic character-istics of Quadrotor have great significance in scientific research. This dissertationinvestigates the dynamic model, nonlinear estimation algorithm and nonlinear con-trol algorithm of quadrotor UAV, the purpose is the quadrotor UAV's autonomous?ight control algorithm research. The main contribution of dissertation is as follow-ing:1. Nonlinear dynamics modeling. We analyzed the basic movements of theQuadrotor UAV for the special aerodynamic layout and power structure. On thebasic of Blade Element Theory, the aerodynamic characteristics of the rotors and theaerodynamic force and moment of quadrotor UAV are analyzed; then, a six degreefreedom dynamic model is given for control algorithms and further research.2. The nonlinear estimation algorithm. We analyzed the basic principle of non-linear state estimation and introduced typical nonlinear estimation algorithm( EKFand UKF), two ?ights state estimators are designed. we analyzed and compared thetwo estimators'filtering e?ect of quadrotor UAV in ?ight. Finally, the validity ofUKF is tested by simulation and is e?ective on the state estimation of quadrotor.3. Nonlinear Backstepping control algorithm. We developed a nonlinear modelof quadrotor for this underactuated nonlinear system with the necessary simpli-fication. On the Basis of simply model, we developed a double-loop and multi-subsystems control structure. Backstepping controller is designed based on thisstructure, and it e?ectively avoid the'computing expansion'problem. Using Lya-punov theory, We also proved the control systems'stability. Finally, we developeda adaptive ?ight controller for quadrotor UAV in hover state. The simulations arecarried out to show the robustness and the good performance of the controller.