| In recent years,four-rotor UAV has been widely used in the fields of education,commerce,national defense and so on.It is significant to make the cost low and widely used flight control system.Therefore,the analysis and application of key technologies such as mathematical modeling of UAV,sensor data fusion algorithm and flight control algorithm have gradually become the focus of research.First of all,the research situation and key technologies of UAV at home and abroad are introduced.The system composition and flight principle of the quadrotor are briefly analyzed.By deriving the kinematics and dynamics equations,it is concluded that the quadrotor is an Driven nonlinear systems.Secondly,an attitude fusion strategy is designed to determine the status of the drone based on the raw data of the accelerometer.When in a large maneuver flight,a quaternion attitude solution is performed using a gyroscope,which improves the calculation efficiency and better copes with sudden changes in attitude angle.When in a uniform or stationary state,the attitude information error after fusion using random weighted filtering is small.Finally,in response to the shortcomings of traditional high-gain methods that are sensitive to measurement noise,an interconnected and damped distributed passive control(IDA-PBC)controller is designed.Since IDA-PBC is very cumbersome in solving the trajectory tracking problem,it introduces contraction(Contraction),so that IDA-PBC controller does not need to stabilize the error dynamics system.The results show that the IDA-PBC controller can effectively complete the tracking control task of the quadrotor aircraft,and has good steady-state performance and dynamic performance.Compared with PID-1 controllers with similar rising speeds,the IDA-PBC controller's adjustment time is shortened by about 22.8% ? 47.7%,and compared with PID-2 controllers without overshoot,the IDAPBC controller's rise time is shortened by approximately 62.4% ? 70.1%.Figure47;Table10;Reference 79... |
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