Research On Robust Position Attitude Control And Autonomous Tracking Of Four-rotor Aircraft

At the beginning of the four-rotor aircraft,because of the limitation of the condition at that time,it had the defects of large volume and poor flight quality.In recent years,with the development of microelectronics,sensor technology,control theory and so on,the four-rotor aircraft has been miniaturized and applied in various fields,but there are still various problems in practical application.Therefore,further research on the four-rotor aircraft is very necessary,which is the significance of this research.In this paper,we mainly focus on a new anti-disturbance control scheme for a single four-rotor aircraft based on adaptive and neural network technology,as well as an autonomous cooperative control scheme for multiple aircraft to achieve the position and attitude trajectory tracking target of the aircraft.The main elements of this work include the following:(1)This paper expounds the anti-disturbance control of four-rotor aircraft and the research significance of autonomous cooperative control of multi-aircraft,summarizes the current control strategy and research status of solving these problems at home and abroad,and analyzes its development prospects.(2)A general four-rotor vehicle model is presented,and a new anti-disturbance control strategy based on Lyapunov stability theory and adaptive and neural network technology is proposed to obtain robust tracking effect of a single four-rotor vehicle system.By using the proposed control strategy and MATLAB software,the simulation results of the fourrotor aircraft in the presence of internal uncertainty and external disturbance are given to verify the effectiveness of the proposed control algorithm.(3)On the basis of(2),the autonomous cooperative control of multi-aircraft formation is studied by adaptive regulation with state-dependent and time-varying disturbances.A new generalized synchronization error model is proposed to unify the existing strong synchronization error model.An adaptive scheme is designed to estimate unknown staterelated factors and constant boundaries.By using the adaptive scheme and MATLAB software,the simulation results of the multi-vehicle under the influence of continuous state-related disturbances are given to verify the effectiveness of the proposed control algorithm.