Research On Rotorcraft Attitude Control Based On Adaptive Dynamic Surface Control Algorithm

The rotorcraft UAV is a pilotless aircraft composed of one or more rotors,which drives the body to fly autonomously in the air through rotor rotations.When changing rotor parameters,UAV also changes its trajectory and attitude.Because of the characteristics of vertical take-off and landing,free hover,flexible control and strong adaptability to environment,rotor UAV has important applications in modern military,industrial,agricultural and commercial fields and so on.It has become a hot research focus at home and abroad.In this paper,the development process of Rotor UAV and the current research status at home and abroad are introduced in detail.Taking Quadrotor UAV as example,according the Quadrotor UAV suffered from uncertain external disturbance,system parameter uncertainties,the attitude adjustment and the part loss of actuator effectiveness.As for the Quadrotor UAV system,the main contents of this paper are as follows:1.This paper not only describes the motion state of the Quadrotor UAV,but also analyzes the kinematics and dynamics of the system in detail.Then it discusses the problem of the part loss of actuator effectiveness,and establishes the dynamic input model for the part loss of actuator effectiveness through the mechanism.2.Considering that the Quadrotor UAV influenced by uncertain external disturbances and parameter uncertainties.A closed-loop controller is designed using backstepping based on adaptive dynamic surface control strategy,and the convergence of tracking error is guaranteed by strict Lyapunov.For the problem of uncertain external disturbance and system parameter uncertainties,an adaptive compensation law is designed to eliminate the effects.At the same time,based on above research,adaptive control gain parameter is introduced to reduce the conservativeness of the control system.Finally,the effectiveness of the control method is verified by simulation.3.On the basis of the above research,considers the Quadrotor UAV suffered from the part loss of actuator effectiveness and the attitude adjustment.Aiming at the part loss of actuator effectiveness problem,the partial failure model is extracted from the system model and compensated by designing adaptive fault tolerance compensation law.In order to solve the problem of attitude adjustment,it establishing a tangential barrier Lyapunov function.Finally,simulation results show that this method can achieve good control performance to analyze the stability.