The Quadrotor Unmanned Helicopter Flight Control System Based On Robust And Perfect Tracking

The four-rotor helicopter originates in1907, in the early time all aspects oftechnologies are not mature enough to have a relatively quick development. Nowadays,because of four-rotor’s unique advantages, so it has a great value of application and a lotof broad prospects for development.However, since the four-rotor helicopter has strong coupling characteristics, and it isa nonlinear system, these properties make the design of its flight control system to bemore complex. Because the volume of quadrotor is small, so the sensors which to beused by control system are compact MEMS sensors. Since there are some errorsexisting in these sensors, so in addition to the need for good control algorithm, themeasured sensor data fusion is particularly important. These two aspects of the keyissues are researched.In this dissertation, the four-rotor helicopters’ flight principle as well as some basicknowledge what will be used in the follow-up work are introduced firstly. Thenaccording to the current commonly used inner and outer loop control, the control lawsof the flight control outer and inner loop are designed. The outer loop’s controlalgorithm is robust and perfect tracking control which used to position control, whileinner control’s algorithm is state-dependent Riccati equation which is the nonlinearcontrol method and it is used to attitude control. On the basis of theoretical analysis, byusing Matlab/Simulink software for the simulation verification and giving thefour-rotor’s simulation results of hover and trajectory tracking specifically, itdemonstrates effectiveness of the inner and outer loop control algorithm.This dissertation has also established the hardware experimental platform of thefour-rotor flight control system, and the sensors which are used in the platform arecalibrated. Then completed a large number of experimental work. In addition, thecomplementary filter and the Kalman filter are used to attitude fusion, and experimentsare carried out in the control system. The results have showed that Kalman filter forattitude fusion is better than the other.