Multi-object Optimal Control Of Quadrotor Based On Servo Compensation

Quadrotor can vertically take-off and landing,do not contain complex transmission,and has many advantages such as smaller volume,lighter weight and more flexible flight performance.Quadrotor complete various flight movements by controlling the speed of four propellers.Quadrotor is usually designed to be unmanned aerial vehicle,therefore it has higher requirement for flight control systems.In recent years,more and more control algorithms have been proposed,but their rapidity,accuracy,stability and robustness still could not fully meet the actual requirements.About the control problems of the quadrotor,in this thesis,a new flight control algorithm is designed.The main work is as follows:Firstly,the summary of the research background and significance and the development history of the quadrotor,the research status at home and abroad,the development of related control theories,some basic concepts,important theorem and solving tools that will be used in the study.This section provides a foundation for subsequent design.Secondly,according to the structural characteristics and working principle of the quadrotor,its dynamics analysis is carried out.Its kinetic model is determined,its nonlinear model is linearized near the equilibrium position and its state space equation is obtained.Then,study on design method of a LQR dynamic output feedback controller based on servo compensation.The overall scheme and the block diagram of the control system are given.The servo compensator is introduced to eliminate the static error under the condition of multiple reference input and the disturbance.System poles are configured through the dynamic output feedback control law.The form of dynamic compensator for linear quadratic performance index is obtained,and the linear matrix inequality(LMI)method for solving the control parameters is given.Finally,simulations of the control algorithm are accomplished.Different simulations are conducted respectively to test the control performance in terms of taking-off,hovering,speed control,trajectory tracking and posture regulation.Also the robustness of the system is tested,and the control energy is optimized.The simulation results show that the control system,which performs well in various aspects,reached the expected goal.Combining the advantages of several kinds of control theory,including servo compensation,dynamic output feedback and linear quadratic regulator(LQR),this control system can realize the following functions:1)zero error output regulation for a variety of external signals.2)Rapid and stable response to the control instruction.3)Certain robustness.