Research Of Unmanned Quadrotor Based On Intelligent Control

The quadrotor helicopter has becomed a new concept in the field of Rotary-wing Unmanned Aerial Vehicles platform. It is a multi-input, multi-output, underactuated and nonlinear system with strong coupled and six degree of freedom. In this thesis, the dynamic model is derived based on the Newton-Euler formalism. The control algorithms were achieved based on the linearized and decoupling dynamic equations, which was obtained by linearizing its nonlinear equations. Then build the simulator model and simulate it using MATLAB-Simulink.The altitude, attitude angles and speed of the axis need to be controlled. The model of the controlled object must be determined for PID control algorithms. If it can’t meet this condition, it will be difficult to control. Simultaneously, we adjust the PID parameters mainly depending on experience and experiment because there’s no an accurate theory, so it actually be a hard work to adjust them. PID control isn’t robust when exist the parameters perturbations and circumstance distrubance.Sliding mode variable structure control is a special nonlinear control. The structure of the system is constantly changing depending on the current state values which make the state trajectory lies on the sliding mode. The sliding model can be designed to be independent of the system parameters and circumstance disturbance. Inder to make up for lock of PID control, improve dynamic performances and decrease chattering of the sliding mode control, the control strategy is presented based on trending law and quasi discrete sliding mode control. And this method can achieve efficient control and has great robust.Then build the simulation model using PID control and sliding mode control with MATLAB-Simulink, and get the simulation result. The advantages and disadvantages of the two control methods can be priced. At last, the platform can be controled by the control algorithms which has been simulated, and we can test the accuracy of the dynamic model and the feasibility of the control algorithms.