Quad Rotor Robot Flight Test And Adaptive Dynamic Inversion Control

In recent years, the quad rotor aerial robot due to its simple structure, low noise, can realize the autonomous takeoff and landing in a small space and the advantages of stronger adaptability and concealment and many other advantages. Quad rotor Played an important role in the field of the civil, military and entertainment. But the quad rotor is a nonlinear, strong coupling and under-actuated system. So how to accurately control the rotor robot has became a hot and difficulty in the Unmanned Aerial Vehicle (UAV) academic research field.Using the self-made quad rotor as research platform, the research objects of this paper is mainly to research on the rotor robot flight test and dynamic adaptive inverse control method.Firstly, this thesis describes the quad rotor’s research background, research significance and the research status of domestic and foreign.Secondly, a quad rotor aerial robot hardware platform with X type configuration has been designed based on the Arduino open-source electronics prototyping platform. This experiment platform is mainly include:microprocessor unit, wireless communication unit, inertial measurement unit, motor driver unit and power supply unit. In order to reinforce the stability and safety of the flight experiment, this thesis also describes the systems configuration process of the quad rotor robot in detail. Contrapose the different flight patterns, complete the flight experiments and show the experimental flight effects.Finally, On the base of the mathematical model of the quad rotor, an adaptive dynamic inversion controller is designed for the sake of stabilization and autonomous navigation. In order to strengthen the robustness of control system, an adaptive dynamic variable vector is used to compensate the model inversion error and achieves the asymptotic stability. In this graduation thesis, the asymptotic is proved to be stability based on Lyapunov theory. It behaves perfectly at the reference altitude and trajectory track in MATLAB simulation. In addition, this paper also designs a simple GUI interface, which can realize the animation simulation, trajectory drawing and the command output functions.