Research On Autonomous Flight Control System Of Quadrotor UAVs Based On Sliding Mode Control

In recent decades, Quadrotor UAV is widely applied in military and civilian fields because of many advantages.For example, Quadrotor UAV has small volume and has no request for landing sites. Besides, it can fly in a small space and some complex environment polluted by chemical and radiation. So it is of important significance to do research on Quadrotor UAV. This article mainly researches the Quadrotor UAV from these aspects, which includes the vehicle body design, modeling and analysis, control system design and flight experiments.First of all, the overall design scheme is formulated according to the requirements analysis of the Quadrotor UAV. The body is designed with the consideration of flying environment, anti-interference ability, sailing speed and time cost. In hardware design, the design and the selection of the hardware are completed using the double panel structure both on the master and the slave board. In software design, the software system is divided into five modules and then the software program of the master and slave board is designed and the ground station system interface is developed.Second, the flight principle of the Quadrotor UAV is briefly introduced. In the modeling section, the dynamics analysis of the translational motion and rotation motion is accomplished and the corresponding dynamical equation is obtained in order to create the dynamical model of the Quadrotor UAV. As the actuator, the motor model is briefly analyzed finally.Furthermore, Considering the Quadrotor UAV requires high level of control command tracking performance, the model reference with good tracking performance is introduced and the reference model is designed. Moreover, the sliding mode controller is designed for the reason that the UAV is sensitive to modeling error and external disturbance. This kind of design is to ensure the tracking performance as well as the strong robustness.Finally, some experiments including the attitude control experiment, the yaw control experiment, the altitude control experiment, the speed control experiment and the outdoor autonomous flight control are accomplished on the basis of the designed control system. The experimental results show that the control system designed on the basis of sliding mode control theory has good tracking performance and robust performance. Meanwhile, the outdoor autonomous flight experiments get the success.