Research On Stability Augmentation Control Method For Quadrotor Flying Robot

The quadrotor unmanned air vehicle(UAV) is a helicopter with small size and poor wind-resistant nature. So the traditional flight controller cannot control the aircraft in the wind. To improve flight stability of the quadrotor UAV in different environment, a stability augmentation controller using hybrid control methods is designed. This hybrid controller contains several sub-controllers which use different control methods. And it can choose the applicable controller according to the flight altitude and pitch/roll angle, which reduces probabilities of air crash and other potential risks.Firstly, the dynamical model of quadrotor flying robot is built by studying the airframe structure. Then, the flight modes and switch-parameters are designed according to actual flight status. Meanwhile, the sub-controllers are designed by different flight modes. Finally, a simulation model is built with Matlab/Simulink toolbox which can simulate switching processes of quadrotor UAV in different situation. The simulation results show that the hybrid controller is able to robustly stabilize the quadrotor UAV in different environments.