Unmanned Aerial Vehicle Attitude Control Based On LQR And Sliding Mode Controller

In recent years,the development of rotary-wing drones has been very rapid.At present,a number of representative products have been introduced.However,there are still many problems in its stability and reliability,which is also the key direction for the optimization and improvement of the performance of rotor-wing drones.Based on this,this paper studies the attitude control of quadrotor Unmanned Aerial Vehicle(UAV).Based on the description of the motion principle and modeling theory of quadrotor UAV,this paper analyzes the control of quadrotor UAV based on LQR algorithm and based on sliding mode control.The algorithm principle of linear quadratic regulator LQR is studied.The state space equation of each sub-module is obtained by simplifying the system nonlinear model.Based on this,the LQR controller is designed.The control characteristics of sliding mode control are analyzed,then the physical structure model of spring mass damping system(SMDS)is used for mathematical analysis.The mathematical model is used to design the controller based on SMC theory,and the designed controller meets the sliding mode.Accessibility conditions for the face.Finally,promote flight control analysis based on LQR.The flight control of the quadrotor UAV is designed.Firstly,the controller is designed for the trajectory tracking of the single quadrotor.According to the four control inputs of the four rotors and the underdrive characteristics of the six state outputs,the quadrupole is decomposed.The two subsystems of full drive and underdrive are designed separately.Then,the formation controller is designed for the problem of multi-UAV formation control,and finally the simulation is carried out.By comparing and comparing the simulation results of different reference trajectories,the dynamic performance of the system such as fast response characteristics and interference suppression characteristics is reflected.Combined with the results of Qball-X4 and Qbot2 formation experiments,the above control method is effective;on the other hand,it is feasible to perform full and under-actuated decomposition of the four-rotor mathematical model,which provides ideas for subsequent research.