Research On Flight Control Of Micro Multi-rotor

At present, micro multi-rotor (MMR) has fascinated researchers at home and abroad due to itslight structure, stable flying and low cost. The use of MMR for civilian and military has beenapproved to be very successful. This paper presents control methods and flying tests of MMR and themajor work as described below.We firstly present a P-PID control law for linearized MMR system to achieve stabilization ofattitude, height and position. The second algorithm is Integral-Backstepping which is a simplenonlinear control method for systems with a series of integrators. The control law of IB is based onLyapunov method from the lower subsystem of MMR. Simulation has shown the effects of IBcontrollers.The approximate stability of single hidden layer network for nonlinear function makes iteffective in flight control especially in small fixed wing, single rotor, ducted fan aerial vehicle. So theadaptive control is analyzed as the third technique for combined position and attitude control of MMR.Reference model acts as a command filter. The PD controller is used to reduce response time. And theSHL network can avoid the unmolded error between approximate inverse model and real systemonline.A real hardware platform is developed to test and verify the performance of attitude and positioncontroller. Some actual issues are stated and analyzed to achieve better test result. All the real flightdata about attitude stabilization, position hold and trajectory tracking shows effectiveness of thecontroller.After research of single MMR, formation of multi-MMRs is an upper control problem. In orderto describe the formation procedure we introduce two error forms, formation error and command trackerror. The former represents the error of distance of two MMRs in real system and their trajectory, andthe other represents the error of single MMR respects to its own command. The multi-MMRs systemcan achieve formation while flying to target area if the two errors near zero.