Design And Simulations For Stabilization Of Quadrotor With Bounded Controls

This thesis enlightens the work on the stabilization of four-rotor attitude control system from two aspects of hardware and software.In the hardware part,after assembling various functional components,a four-rotor platform is obtained for real-time research and analysis.In the software part,this thesis studies the stabilization of attitude control system of a quadrotor with bounded control.The two control methods for global stabilization of fourrotor attitude control system are discussed– one is a global stabilization method with multiple integrator systems with bounded control,and the other is a global stabilization method with nonlinear feedforward system with bounded control.In addition,a high-gain observer(HGO)is used to improve the robustness of the closed-loop system to uncertainty and reduce number of state variable measurements.This thesis also uses MATLAB to numerically simulate the stabilization algorithm.The simulation results show that the adopted controller has a good control effect and has certain advantages compared with other methods.