Coordination Control Of Quadrotor UAVs By Adaptive-fuzzy Control

Multi-rotor UAV gets more and more attention and wide applications by virtue of its extremely high performance price ratio and wide practicality. But because of its nonlinear, strong coupling system and its sensitivity to the outside, it is difficult to control by the system. This thesis designed an adaptive fuzzy controller to control the attitude system of the multi-rotor UAV, with the H∞ control joined to make the interference suppressed.Cooperative control is a particularly common phenomenon in nature, the simple description is that a group of individuals accomplish a complex task during movement for communicating mutual information by each other or together, the behavior does not collide with distance and velocity converging. This existence of the cooperative behavior benefits to the survival of organisms and genes. Thus, it could help accomplish the task that individual cannot complete, save energy and improve efficiency accordingly. The mechanism is applied to multi-rotor UAVs, which can be used in formation flight of multi-rotor UAV. Considering its robustness, adaptability and flexibility, the formation flying of multi-rotor UAVs is of great strategic significance and more suitable to conduct some complex tasks.This thesis mainly studies the multi-rotor UAVs. The focus is to design the controller for the nonlinear and multi variables characteristics of the multi-rotor UAV system, combine with the cooperative algorithms, through the information interaction between the multi-rotor UAV, to achieve the cooperative behavior. The effectiveness of the designed controller is verified.The main work is as follows:1. The multi-rotor UAV is less driven, strong coupling system. In order to improve the stability of the control multi-rotor UAV, the adaptive fuzzy controller is designed, and the stability control of the attitude angles of the rotating subsystem is solved in the case of interference. Besides, its stability is also proved by the Lyaponov theory.2, Through the introduction of dummy variables, the whole cluster cooperative control is achieved through control the attitude angle by the implementation of the adaptive fuzzy controller, combining rotating subsystem of the adaptive fuzzy controller with position subsystem of cooperative algorithm.3. Using the Lyapunov theory and the LaSalle invariant theory, the stability of the designed controller is proved.The main innovation of this thesis is as follows:On the one hand, the adaptive fuzzy controller is designed for multi-rotor UAV attitude control system, the H∞ control is added, so that the tracking attitude angle is effectively realized. Especially, the system tracking error decays to an arbitrarily small in the condition of the external disturbance.On the other hand, the virtual control is introduced, and the attitude angles of the cooperative behavior of multi-rotor UAV is calculated by using the cooperative algorithm.Combined with the adaptive fuzzy control, the cooperative behavior is achieved. The above work is effectively verified by the matlab simulation.