Attitude Tracking Control For A Quadrotor Via Dynamic Surface Control And Adaptive Dynamic Programming

The quadrotor Unmanned aerial vehicle(UAV)has been widely used in military,scientific research,civil,and agricultural fields due to its advantages of low cost,easy repair,strong controllability and strong mobility.The quadrotor UAV flight attitude control includes roll control,pitch control,and yaw control.Attitude control determines the performance of flight control.At the same time,the flight control of multi-quadrotor uav can meet the more complex mission requirements.Therefore,the research on attitude control and formation flight control has important theoretical significance and application value.The content includes the following four aspects:(1)Aiming at the problem of "computational explosion" of traditional backstepping method,the dynamic surface control can eliminate the virtual control differential terms and simplify the controller design of the quadrotor uav.In order to further improve the control accuracy and anti-interference ability of the controller,a comprehensive attitude controller is designed by combining dynamic surface algorithm with adaptive dynamic programming algorithm.The simulation results verify the effectiveness of the designed comprehensive attitude controller.(2)Aiming at the lack of adaptability and redundancy of parameters in the controller of the quadrotor uav formation,the adaptive dynamic programming algorithm is applied to the formation control of the quadrotor UAV,and the distributed optimal coordination controller is designed to realize the intelligent control of the UAV formation.The simulation results show that the designed controller system meets the control demands.(3)The Pixhawk flight control experiment platform is used to realize the attitude controller design based on dynamic surface and adaptive dynamic programming method,the effectiveness of the controller is verified by flight experiments.The experimental results indicated that the comprehensive controller has better control accuracy and anti-interference ability than double-loop PID controller,and has better application value.