Research On The Stability Control Algorithm And Consensus Formation Control Of Quadrotor UAV

In recent years, the research to unmanned aerial vehicle (UAV), especially to theQuadrotor UAV has gained more popularity all over the world. Due to the low cost, flexiblemovement and many other advantages, Quadrotor UAV has been used more and morewidely in the field of military and civilian.According to the analysis of the Quadrotor UAV flight’s principle and dynamiccharacteristics, this thesis establishes Quadrotor UAV’s kinetic equation with Newton-Euler method, and proposes Quadrotor UAV’s mathematical model. Different from thetraditional method which separated the model into two parts-attitude loop and positionloop, this thesis separates the system into a fully-actuated subsystem and an under-actuatedsubsystem according to Quadrotor UAV system’s dynamic characteristics, and proposestwo different kinds of controller respectively.First of all, due to the analysis of the fully-actuated subsystem’s dynamiccharacteristics, a terminal sliding mode controller is designed to control the verticaldirection and the drift angle. The effectiveness of the algorithm is proved by the relatedtheory and simulation results.Secondly, a sliding mode controller based on disturbance observer is proposed tocontrol the horizontal direction, roll angle and pitching angle by analyzing the dynamiccharacteristics of the under-actuated subsystem. Through the mathematical proof andrelated simulation results, this thesis proves the correctness of the control algorithm and theinterference immunity of the controller.Then, for the whole Quadrotor UAV control system, a unified controller is proposedby combining these two control algorithms and adjusting the relative parameters. The finalcontroller can not only realize the system’s scheduled goals, but also effectively restrain thesystem’s disturbance, which enables the stability of the UAV’s flight.Finally, a consensus formation control problem with the fixed communicationtopology is posed aiming at the simplified quadrotor system model. By studying thecharacteristics of the simplified quadrotor system, the thesis separates the quadrotor modelinto four subsystems and designes new consensus formation control protocols respectively.Theoretical proof and simulation results illustrate that the control algorithm designed iseffective, and multi-quadrotor systems can reach the expected formation target under the control protocols.