Research Of Quadrotor Unmanned Aerial Vehicles On Flying Control

Quadrotor is an excellent,flexible and novel vertical take-off and landing Unmanned Aerial Vehicle(UAV) for military, civilian and scientific usages.It was not paid enough attention, from1930s,for its low actual load, inaccurate mathematic model and short flight time. After entering21st century, and with the improvement of sensor technology, application of new materials, and amelioration of battery life, Quadrotor UAV has attracted more and more researchers.The system of Quadrotor UAV involves Electromechanics, Aerodynamics, Automatic Control Theory, and Modern Control Technologies, etc, which broadens researching fields for many kinds of researchers who have different subject background, then meets their needs for simulation and design. According to its characteristics, this paper will chiefly research its mathematic model, nonlinear control characteristic and actual flying. The main researching tasks are:Firstly, research and analyze flight theory and aerodynamic characteristics of Quadrotor UAV, and then build its mathematic model;Secondly, Quadrotor UAV is strongly coupled, under-actuated, and nonlinear MIMO system (4actuators and6DOF),according to these characteristics, we design Backstepping controller, simulate and analyze the mathematic model,and then prove stabilization by Lyapunov;Finally, set up Quadrotor UAV with MWC2.OOpen source flight control board, design its aerial control system by Arduino software development platform, use Futaba telecontroller to control it, and then test and debug the stabilization of it,until it can take-off and load vertically, fly, and hover stably.