Nonlinear Control Of Quadrotors With Load Uncertainties And Its Experimental System

In recent years,with the rapid development of battery technology,sensors and other technologies,the quadrotor is more and more into people’s lives,and has been widely used.It has the advantages of simple structure and being flexible controled,have broadly used in the military,civilian,police,scientific research and so on,has shown great application value.Because of the nonlinear,strong coupling and less driving characteristics of the quadrotor system,it is difficult to control.In particular,the traditional control method is difficult to maintain the stability of the aircraft when it is carried on the four axis aircraft.The author mainly studies the modeling and control problem of four axis vehicle with uncertain load,designs and builds the experiment system for indoor robot to verify the algorithm.According to the theory of Newton’s second law of Motion-Force and Acceleration and the theory of Euler equation,the dynamic equation is established for the attitude stability of the quadrotor.According to the four axis aircraft load uncertainty modeling,without changing the motor of the original motor matrix,transforms the matrix into the body center of gravity at the motor torque and the geometric center of the body vehicle center of gravity relative to the geometric center of the additional moment.The attitude control is divided into three separate control using Euler angle,based on Lyapunov stability theory,the controller design includes a thrust feedforward control the Euler angle.The numerical simulation shows the effectiveness of the proposed method.In order to verify the control algorithm,a design scheme of indoor robot experimental system is put forward,the quadrotor carrying uncertain load experiment system was built for the flight control experiments.The experimental results show that the proposed algorithm can control the quadrotor with uncertain load effectively.