Research On The Quadrotor Control Technology Based On Ensemble Modeling Method

Due to the excellent flight performance and low cost,the quadrotor has attracted the attention of many scholars,research institutions and manufacturers,and is widely used in military and civilian fields.Control algorithms occupy an important position in the research of quadrotor.Control algorithms designed based on the mathematical model of quadrotors,such as PID Control,Feedback Linearization,Backstepping and Sliding Mode Control,have been applied to the control of quadrotors and obtained some achievements.However,owing to the complexity of quadrotor model,it is difficult to build an accurate mathematical model.And then the performance of the model-based control algorithm will be affected.In view of this problem,this paper combines a project to study the control of a quadrotor,and discusses a method for quadrotor controller design based on ensemble modeling.According to the fast and accurate requirements of the flight control algorithm,an ensemble modeling method with low complexity,high accuracy and fast response is designed,which liberates the dependence on the quadrotor mathematical model in the design of classic control algorithms,and provides a high-quality quadrotor controller.The main research work of this paper is as follows.First,the ensemble modeling control method based on the simulation of quadrotor aircraft is studied.Constructing a prediction function related to the quadrotor’s lift command,and then builds an ensemble model of a parallel framework.By introducing a Random Selection Method to reconstruct the original data set and using a Fixed-size Least Squares Support Vector Machines as the submodel,the problem of high-dimensional input and big data processing of the ensemble model is solved.The test results verify that the ensemble model achieves better results than the comparative models.It can quickly and accurately construct quadrotor’s lift control commands under the requirements of the Root Mean Square Error and the Maximun Absolute Error of the project indicators.Secondly,the ensemble modeling control method based on the actual quadrotor aircraft is studied.Analyzing the difficulties of ensemble modeling,and then give the design plan of the model.Four ensemble models related to the position and attitude controller of the quadrotor are constructed.And then,they are trained and tested on the data set obtained from the flight tasks,and compared with other models.Under the requirements of the Root Mean Square Error and the Mean Absolute Error of the project indicators,the ensemble modeling method can quickly approximate the quadrotor controller with a small error,which verifies that it is feasible to control the position and attitude of the quadrotor using the ensemble modeling method.Finally,ensemble model is written into the flight control code for actual flight test.Convert the ensemble model into C++ code and write it into the Ardupilot flight control code to replace the original Auadcopter controller.Then fly it autonomously.The ensemble modeling method successfully realized the flight control of the quadrotor.