Autonomous Flight Control System For Multi-Rotor UAV Based On Adaptive MRSMS

Since quad-rotor UAV possesses many advantages, such as high maneuverability, low cost and good flexibility, it has wide applications in aerial photography, intelligent transportation and precision farming. In order to design a quad-rotor UAV for being applied to precision farming, this paper studies the structure and dynamic model of UAV. The steps of the study are as follows:Step 1:According to the design requirements of a quad-rotor UAV for precision fanning, the airframe design is analyzed from the points of airframe size, endurance ability, load capacity, cruising capacity. Then, According to the design requirements of flight function, the design of embedded system is completed. Finally, how to complete the flight modes and design the structure of the flight control system is discussed.Step2:The second step is to derive the mathematical model of UAV and establish the controllers of each subsystem. The mathematical model is derived according to the flight principle of multi-rotor UAV and space motion equation. In addition, we simplify the mathematical model of system. According to the property and control requirement of system robustness, Adaptive Mode Reference Sliding Mode Control (MRSMC) is adopted to design the controllers for each subsystem.Step 3：To testify the properties of the designed controller, flight experiments for each part need to demonstrate are performed. Through analyzing experimental results, the controller is proved that it has good performance. This meets the requirements of UAV for precision farming, and also proves the significance of this paper.