Miniature Four Rotor Unmanned Helicopter Modeling And Control Methods

Micro/mini quadrotor is an excellent, novel vertical take-off and landing Unmanned Aerial Vehicle(UAV) for both military and civilian usages. Based on a summary of the research status quo, the key technologies and the future applications of the micro/mini quadrotor, this paper concentrates on its special characteristics, mainly researched the problems on mathematical modeling, nonlinear controller and state estimation. Some important theoretical analysis and research results are as follows:Firstly, the dynamics and kinematics equations of the prototype quadrotor are established by mathematical modeling. And the system equations are transformed to affine nonlinear form.Secondly, the underactuated characteristic of the quadrotor is analyzed, based on the backstepping, a flight controller is designed for both hovering and tracking, then the Lyapunov stability of the system is analyzed. Simulations show that the proposed controllers are validity.Thirdly, the Active Disturbances Rejection Controllers(ADRC) are designed for the direct driven states of the quadrotor to stabilize the vehicle and control the flight height; the PD-ADRC double closed loops are introduced to diminish the zero dynamics, then the Lyapunov stability of the double closed loops is analyzed, so that the quadrotr can hover. The validity of these controllers is proved by simulations.Finally, the states of the quadrotor needed by the controllers are estimated by a Square Root Unscented Kalman Filter(SR-UKF).