Attitude Control System Study Of Quad-robot

Quad-robot takes advantages of the capabilities of lightweight,strong concealment and convenient maintenance of itself.It is often used by people in military and civilian.As the same time,it is trusted by people because it can perfect finish tasks.For instance,it can lurk reconnaissance and surveillance in designated place,monitor target and relay information in military.It can prevent flood and supervise drought,survey in border,supervise wildlife and survey land resources in civilian,The study of quad-robot has an extensive application prospect because it draws more and more attention in people's lives.The main work of the paper is to study attitude control system of quad-robot.The aim is to well keep quad-robot stability and immunity.In the design process,three algorithms are used to design the attitude control system.They are PID control,ADRC and sliding-mode control.Compare effectiveness of different system that use different algorithms in simulation platform.Evaluate advantages and disadvantages of each system base on dynamic performance.It comes up with a kind of method connect with fuzzy-control with sliding-mode control to design attitude controller.And compare with the control system of sliding-mode control algorithm.The dynamic property of quad-robot has been optimized with compound arithmetic by analysis in simulation platform and the result is perfect.