The Robustness Of Model-free Adaptive Control And Application In Quadrotor Aircraft

Quadrotor aircraft is widely used in various fields with important practical value.The control system of the quadrotor aircraft is an important part in affecting flight quality,so that the problem of controller design for quadrotor aircraft attitude adjustment has been a research hotspot.For the multiple-input and multiple-output(MIMO)nonlinear system like quadrotor aircraft that with complex structure and disturbances,the controllers with strong interference suppression capability based on the MIMO compact form dynamic linearization model-free adaptive control(CFDL-MFAC)algorithm are proposed in this thesis.The main researches are as follows.(1)The traditional MIMO CFDL-MFAC algorithm is given according to the quadrotor aircraft system and the robustness of this algorithm is also studied.An improved algorithm named Restrained MFAC(RMFAC)with suppression matrix is proposed in this work,and the convergence of RMFAC algorithm is analyzed in theory.Based on traditional MFAC and the RMFAC algorithm,the quadrotor aircraft controllers are designed.Then,the anti-interference simulation experiment is carried out.The results demonstrate that RMFAC controller has certain anti-interference ability and the robustness of the RMFAC controller is stronger than the robustness of the traditional MFAC controller.(2)In order to improve the ability of controller to suppress intermal disturbances,the controller named ADRC-RMFAC is proposed which is combined RMFAC with active disturbance rejection control(ADRC)technology.The anti-interference simulation experiment is also conducted,and the results show that ADRC-RMFAC controller has strong capability with interference suppression.Meanwhile,the robustness of the ADRC-RMFAC controller is stronger than the robustness of the traditional MFAC and ADRC controller.(3)The anti-interference real-time control experiment of traditional MFAC,ADRC,RMFAC and ADRC-RMFAC controller was conducted by using the quadrotor flight simulator platform.The intermal disturbances and external disturbances are considered in the experiment.The experimental results demonstrate that the ability of the RMFAC controller to inhibit interference in real-time control is stronger than that of the traditional MFAC controller,and also the ability of the ADRC-RMFAC controller to inhibit interference in real-time control is stronger than that of the traditional MFAC and ADRC controller.