小型四旋翼无人直升机自适应优化控制

摘要： 针对小型四旋翼无人直升机姿态稳定及位移跟踪控制问题，提出了一种新的控制方法.根据牛顿 欧拉方程及刚体理论建立了小型四旋翼直升机的动力学模型，并利用二次拟合实验建立了旋翼升力和输入控制信号之间的关系模型.将自适应优化 (Adaptive Control Optimization,ACO)控制方法运用于小型四旋翼直升机控制系统中，实现了小型四旋翼直升机的姿态稳定及位移跟踪控制.实际飞行实验表明，自适应优化控制方法在小型四旋翼直升机姿态及位移控制中相对于传统的自适应控制方法，具有很好的实时性和鲁棒性.

Control of Small Scale Quad-Rotor Helicopter Using Adaptive Control-Optimization

Abstract： A novel method was proposed in this paper in view of the problem of stability and translation tracking control of small scale quad rotor helicopter. A dynamic model of the quad-rotor helicopter was established based on Newton Euler equation and the rigid body theory. A model of the relationship between lift and input control signal is established by secondary fitting. The adaptive control-optimization (ACO) method is applied to the control system for the first time, by which the attitude stability and translation tracking control of the quad-rotor helicopter was realized. The results of real flight experiment show that adaptive control optimization (ACO) method has better robustness and real-time performance on attitude and translation control in comparison with common adaptive control methods.