Anti-interference Control Of 3 DOF Quadrotor Aircraft

The four-rotor aircraft is a six-degree-of-freedom rotorcraft consisting of four propellers.It has been widely used in civil and military fields due to its simple structure and good flight performance.At the same time,the quadrotor due to its four-input and six-output structural characteristics makes the quadrotor flight system a typical multi-variable,nonlinear,and strongly coupled underactuated feature.n this paper,the research status of the quadrotor is systematically reviewed.Based on this,the mathematical model is established based on the kinematics and dynamics of the quadrotor.Secondly,the application of some advanced and classical control methods in the anti-interference control direction of quadrotor is studied.Combined with advanced methods at home and abroad,this paper designs a controller based on sliding mode control and auto disturbance rejection control method based on the established mathematical model of quadrotor aircraft,and further optimizes the anti-jamming performance of the system.Finally,the effectiveness of the algorithm is verified by simulation,and the role of the algorithm in actual flight is verified by the Quanser quadrotor experimental platform.The main work of this thesis includes the following aspects:(1)Check the relevant data to review the research status of the four-rotor aircraft at home and abroad.Based on this,an aerodynamic model is established for the flight characteristics of the quadrotor.The mathematical model of the quadrotor is derived by combining Newton's second law with the torque theorem.(2)A global fast terminal sliding mode controller is designed for the stability of the four-rotor flight process.The problem of system singular value in the process of terminal sliding mode control is studied.The traditional terminal sliding mode is optimized and improved,and a global non-singular form of fast terminal sliding mode controller is designed for the four-rotor aircraft system.Finally,the stability of the proposed algorithm is proved by Lyapunov method,and experiments are carried out on the experimental platform of the quadrotor to verify the effectiveness of the algorithm.(3)This thesis introduces the three basic components of the auto-disturbance controller and draws the overall framework of the auto-disturbance control method for the quadrotor.Detailed analysis is performed on each main structure of the ADRC controller.Based on this,a controller based on the auto disturbance rejection control method is designed for each degree of freedom of the three-degree-of-freedom four-rotor aircraft.Aiming at the parameter tuning problem in the practical application of the auto disturbance rejection control algorithm,the fuzzy auto disturbance rejection controller is designed by combining the anti-interference control technology with the fuzzy control theory.Finally,the control method proposed in this chapter is applied to the actual flight.The experimental results show that the proposed control method greatly improves the system's rapidity and the system's inhibition of disturbance.(4)Sliding mode variable structure control method has a wide range of applications in nonlinear system control with uncertainties.The self-disturbance control has a good inhibitory effect on the internal and external disturbances of the system.Combining the anti-interference control technology with the sliding mode variable structure method has a good application prospect in the anti-interference control of quadrotor aircraft.Therefore,this paper proposes a fixed-time sliding mode control strategy based on fuzzy extended state controller.For the model uncertainty problem existing in the system and the disturbance problem in the flight environment,the extended state observer is used for dynamic compensation,and the fuzzy control principle is used to realize the online tuning of the extended state observer parameters.The experimental results verify the effectiveness of the proposed algorithm.