Design And Research For Control Algorithm Of Quadrotor Aircraft Flight Control System

Quadrotor aircraft control system is a kind of system of nonlinear,under actuated and strong coupling,it is an ideal platform to verify all kinds of control algorithm,controlling of the quadrotor flight control system is one of the hotspots in the field of automatic control.The research object is a quadrotor aircraft which made up in our laboratory.We mainly study the backstepping control method and improve the backstepping control method aiming at its shortcomings.To explore new control strategy,We design controller based on adaptive backstepping control algorithm.The main work of this thesis and innovations are summarized as follows:1.We set up the flight dynamics model by Newton-Euler equations and thus derive it to the state space model.The control system is divided into two parts: inner ring control(attitude control)and outer ring control(position control).We construct the transfer function of the six control channels and the four control quantities,and thus the highly coupled system is decomposed into independent control channels.2.The attitude control and position control law are designed based on the parameter self-tuning PID control method.Simulation is carried out by using Matlab/Simulink to verify the feasibility of the scheme.3.Combined the backstepping control basic idea with sliding mode control method,the backstepping controller is designed for the high order number and non-linearity of the quadrotor craft control system.An adaptive backstepping control law is designed for the problem of system steepness caused by parameter uncertainty and unknown disturbance.Finally,the Simulink results show that the backstepping controller is superior to the PID controller in the convergence speed.The improved adaptive backstepping controller is superior to the backstepping controller,can significantly reduce the system chatter.4.We set up an experimental platform of the quadrotor craft and the adaptive backstepping controller is realized on it.Tests results show that the experimental platform can achieve self-hovering,can quickly restore stability in the case of external forces.