Research On Ground Multi-target Control Method Of Quadrotor

Small quadrotor unmanned air vehicle(UAV) is becoming a hot topic of research in control domain. Based on the mission of IARC VII(International Aerial Robotics Competition VII) in 2014, the performance of maneuverability and accuracy which quadrotor controls ground multiple mobile targets in the mission is studied.Firstly, the requirement which quadrotor controls ground multiple mobile robots is analyzed, the indoor environment quadrotor partial navigation strategies and orientation efficiency priority(OEP) control strategy of ground multiple mobile targets is studied.Secondly, the nonlinear dynamic modeling of quadrotor is established, then it is linearized treatment. In attitude control, PID controller and the fuzzy adaptive PID controller are designed. In position control, the backstepping controller is designed.Thirdly, for the performance of maneuverability and accuracy which quadrotor controls ground multiple mobile targets in the mission, a nested controller is proposed. The controller composition problem is researched between backstepping controller and the controller based on acceleration model, the backstepping controller is used to realize inner loop attitude maneuver control, position controller based on acceleration model is used to realize the outer loop precise tracking control.Finally, the proposed controller is verified through the simulation and actual flight tests,the results show that the controller which has good performance of maneuverability and accuracy which quadrotor controls ground multiple mobile targets can achieve the desired control demands.