Research On Control Of The Three Dof Hovering System With Quadrotor

The quadrotor is a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV), which has broad applications in both military and civilian region. For example, it can be used for the reconnaissance and surveillance in the ground battlefield, or the search and rescue after serious disasters. These years, more and more research communities have shown a great interest in the quadrotor.This thesis is mainly about the attitude control of the three degree of freedom (three DOF) hovering system with quadrotor. The system consists of a frame with four propellers. Each propeller generates a lift force which is used to control the pitch and roll angles. The total torque generated by the propellers is used to control the yaw angle. So, it is a typical multiple-input and multiple-output (MIMO) system.The research contents are as follows:Firstly, the research status, technologies and important meanings are introduced. Secondly, the system's dynamic model is established after ignoring the gyroscopic effects and the internal structure frictions. Thirdly, according to the model's characteristic, a linear quadratic regulator (LQR) controller based on state observer is designed and its validity is proved by simulation. Finally, an active disturbances rejection controller (ADRC) is designed to stabilize the system with unknown disturbances. The good robustness of the ADRC is proved by simulation.