Research On Flight Control Algorithm Based On Quadrotor UAV

In recent years,in the field of robotics,the four-rotor UAV has been widely concerned at home and abroad for its advantages of convenient operation,simple structure and strong mobility,and has been widely used in various fields.As four-rotor UAV is a highly coupled and under-driven controlled object,it brings many challenges to the algorithm research of four-rotor UAV.Therefore,this paper takes small four-rotor UAV as the research object and focuses on the flight dynamics of four-rotor UAV,flight attitude control of four-rotor UAV,flight attitude simulation of four-rotor UAV and other aspects.The main research work is as follows:The backward step control algorithm and model predictive control algorithm are analyzed theoretically,and the design method of each control algorithm is given.A method of constructing an extended state observer for a controlled system with lumped disturbances is presented.The dynamics of the four-rotor UAV is analyzed,and the body dynamics model of the four-rotor UAV is established by Newton-Euler principle.A preset performance backstepping controller(ESO-NPPCBSC)with an observer is designed to control the attitude Angle of a four-rotor UAV in real time.Based on the backstepping control method,the lumped interference of attitude Angle is resisted by the extended state observer(ESO),and the convergence rate of attitude Angle is controlled by the preset performance control(NPPC).The experimental results show that the control algorithm can not only make the controlled system converge quickly,but also make the controlled system reach the steady state within the specified time.A proportional differential model prediction controller(ESO-PDMPC)with an observer is designed to control the attitude Angle of a four-rotor UAV in real time.Based on proportional integral differential control(PID)and model predictive control(MPC),the proposed control algorithm stabilizes the nominal system and the error system of the attitude Angle of the four-rotor UAV respectively,and resizes the lumped interference of the attitude Angle through the extended state observer(ESO).Experimental results show that the control algorithm can make the controlled system reach steady state quickly without overshoot.