Multi-Target Attitude Regulation For Quadrotor Control Systems

The most prominent feature of quadrotors,one kind of multi-rotor unmanned aerial vehicle(UAV),is its ability to achieve vertical take-off and landing and free hovering.Compared with the fixed wing UAV,quadrotors have many advantages including small volume,light weight,simple operation,and easy handling.Quadrotors complete various flight movements through different controlled speed of four propellers,thus having high requirements for the control system.In recent years,some new control algorithms have been proposed,but features like stability,rapidity,robustness and accuracy are still unable to meet the practical needs completely.In this thesis,a new control algorithm was designed to control the quadrotors.The main tasks completed are as follows:Research background and significance were introduced first of all,following quadrotors'development and research status at home and abroad.This thesis also provides simple overview of some commonly used control algorithms,of theorems,formulas and concepts applied in this study,and lays a theoretical basis for controller design and control parameters solution.Secondly,according to the structural characteristics and working principle of the quadrotor,its dynamic analysis has been carried out.The kinetic model was then obtained,the equations listed,and the model line was substituted near equilibrium to get the state space expression.Then,design methods to achieve dynamic output of feedback controllers based on servo compensation and LQR were presented.The overall plan and block diagram of the control system were designed.The application of the servo compensator helped to minimize the effects of external signals on the tracking error,thus realizing zero error tracking.Regional pole assignment method has also been used to design a dynamic output feedback control.The comprehensive optimization of the control system was implemented through the optimal quadratic linear method,and the controller parameters were successfully solved by applying linear inequality.This control system,using the servo compensator and dynamic output feedback,possesses the following advantages:1)can realize zero static error tracking control over external signal;2)can respond fast and transit smoothly;3)has good robustness.