Real Flight And Simulation Of Quad-rotor UAV Based On Multi-dimensional Taylor Network Optimal Control

In recent years,with the development of science and technology,the civil market demand of multi-rotor UAV is gradually increasing,especially the miniature quadrotor drones has gradually become a research hotspot.The quadrotor UAV is a typical underactuated nonlinear system.The key of the research is to improve the control accuracy and dynamic performance of the system,and to stabilize the attitude and position control.As a new type of network controller,the multi-dimensional Taylor network controller has the advantages of easy to implement with a simple structure,good real-time performance,good dynamic performance,strong anti-interference ability and good robustness,which is widely used in nonlinear systems.In this paper,based on the multi-dimensional Taylor network controller,the attitude and position control of the system is studied.A design method for actual flight of based on multi-dimensional Taylor network(MTN)is proposed and the MTN controller is designed based on backstepping method.In the simulation and final actual flight experiment of quadrotor UAV,the experimental results verify the effectiveness of multi-dimensional Taylor network(MTN)optimal control.The main contents of this thesis are as follows:1.Firstly,the motion of quadrotor UAV is analyzed.The mathematical model of the quadrotor UAV is established by using the Newton Euler equation.2.Then,based on multi-dimensional Taylor network optimal control,the MTN attitude controller and MTN position controller are designed respectively.All the controller parameters are optimized by the particle swarm optimization(PSO)algorithm.By introducing a Lyapunov function and using Lyapunov stability theory,it is proved theoretically that the designed multi-dimensional Taylor network optimal controller can guarantee the stability of the close-loop control system.3.Next,the system simulation platform is designed by using MATLAB GUI tool and the corresponding simulation model based on Simulink is designed.A series of simulation experiments are carried out on the platform,and the experimental results show that the MTN control algorithm has the advantages of good real-time performance and strong anti-interference ability compared with PID control and dynamic surface control.4.Finally,MTN control algorithm is applied to the actual flight control of quadrotor UAV.The results show that the control system based on multi-dimensional Taylor network(MTN)optimal control has the advantage of good dynamic response,robustness,and easy to implement with a simple structure compared with PID control.