四旋翼飞行器的建模及基于反步法的控制

论文研究了基于反步法的四旋翼飞行器控制系统设计问题

Modeling And Control Of A Quadrotor Based On The Backstepping Method

This paper presents the design of the control system based on the backstepping method of a quadrotor. On the basis of the simplified six degrees-of-freedom (6DOF) nonlinear model of the quadrotor, the control strategy are tackled using a nested loops control architecture. A nonlinear Backstepping controller is implemented for the inner stabilization loop. It asymptotically tracks reference attitude, altitude and heading trajectories. The outer loop controller generates the reference information for the inner loop controller. To ensure reliability of the controller, a PD controller with a saturation function is used for the outer loop. Finally ,a simulation of the quadrotor demonstrates the suitability and validity of the propsed control algorithm.