Fractional Order PID Control For A Quadrotor UAV

Quadrotor adjusts its position and attitude by changing the symmetrical distributed rotor speed.With the advantages of flexibility,low cost and so on,quadrotor has gradually become a research hotspot of researchers.However,due to the characteristics of underactuated,nonlinear and strong coupling,the control system of quadrotor is difficult to design.This thesis focuses on the flight control of quadrotor,and the main work is as follows:Firstly,the flight principle of quadrotor and the transformation relationship between two coordinate systems are analyzed in detail.On this basis,the dynamic model of quadrotor is deduced according to the Newton Euler method,which lays the foundation for the design of control system.Secondly,the control strategy of the combination of fractional order PID control and fuzzy control is studied.The fractional order operator is introduced into the input and output of the fuzzy controller to form an adaptive fuzzy fractional order PID controller,and the control algorithm is applied to the control system of quadrotor.In order to achieve a better flight effect and higher energy efficiency,the NSGA-Ⅱ multi-objective optimization algorithm is used to optimize the controller parameters.Compared with PID and fractional order PID controller,this method obtains better control performance.Thirdly,considering the disturbance factors in natural environment,combined with fractional order PD control and active disturbance rejection control,an active disturbance rejection fractional order PD controller is designed for the control system of quadrotor,and its parameters are optimized by using the equilibrium optimizer algorithm.Compared with active disturbance rejection integer order PD controller,this method has better effect in resisting internal disturbance and external disturbance.Finally,based on MATLAB App Designer,a visualization platform of quadrotor control simulation is developed,with user management interface,control simulation interface and parameter optimization interface.The visualization platform is of great significance to accelerate the practical application and development of quadrotor.