Research On Control Algorithm For Quadrotor Unmanned Helicopter

Quadrotor unmanned helicopter is one of multi-rotors unmanned aerial vehicles whichpossess the special flying ability of vertical take-off and landing (VTOL) and hovering. It hasa simple and elegant structure and can fly in all sorts of attitudes by regulating the speed offour rotors. What’s more, it possesses strong mobility and load-bearing capability, which canchange to another attitude from hovering instantly. More and more people pay attention to itand its applications involve military and civil fields.The research emphasis of this thesis is to design control algorithms for quadrotorunmanned helicopter. Firstly, it introduces the backgrounds and significances of the research,briefly reviews its historical development and summarizes research progress of controlalgorithms in home and abroad. Secondly, basic mode of motions and motion principles areintroduced aimed at its structure. After accomplishing force analysis according to Newton’slaws and Euler Theory, we can achieve dynamic models of quadrotor unmanned helicopter. Atlast，two controllers are designed in this thesis based on fuzzy self-adjusting PID controlalgorithm and backstepping algorithm and corresponding experiments are did respectively.The first controller combines PID algorithm with relevant theories of fuzzy control andabsorbs advantages of the two algorithms. A fuzzy self-adjusting PID controller is designedthrough reasonable fuzzy control rules whose control effects are good through its hoveringand trajectory tracking researches.The second controller adopted Lyapunov stability theorem and backstepping algorithmdivides the whole system into two return circuits and each circuit are divided into threesecond-order systems which reduce order number of controller effectively. Hovering controland trajectory tracking experiments are proceeded by this controller.