Design Method And Experimental Verification Of Control System For Quadrotor

The quadrotor has been widely used in military and civilian application domains due to its simple structure,low cost and vertical take-off and landing features.The control system of quadrotor is the basis of all kinds of tasks,and its real-time performance and high efficiency affect the execution quality directly.In order to improve the performance of quadrotor control system,this paper mainly focus on the research of the practical application and then simulation and flight experiments are carried out to verify the validity of the controller.The main tasks are as follows.Frst of all,take the quadrotor as a research object,and for the convenience of study,under the assumption of low speed and small angle flight,the model is linearized based on the nonlinear mathematical model of Newton Euler equation and the final mathematical model is established combined with the motor model and then quaternion attitude representation is introduced for the practical application.Secondly,cascade PID and H∞loop shaping controller of quadrotor is designed and simulation experiments are carried out.The numerical simulation results show that the PID controller’s response time is longer,the H_∞ loop shaping controller’s overshoot is larger.As the contradiction between the overshoot and response time,hyperbolic tangent function is used as a differential tracker to design the control system of quadrotor based on ADRC control technology,the numerical simulation results demonstrate the effectiveness of the method.Finally,gradient descent algorithm is tested to get the attitude information and suppress the gyroscopes drift,and the control effect of modified ADRC is also tested based on the quadrotor platform,the experimental results show that the modified ADRC attitude controller is effective and achievable.