The attitude control is the core of autonomous flight control of a quadrotor. In order to solve the problems of being easily disturbed by the external environment and uncertainty of the model, a robust adaptive controller is designed to improve the robustness and accuracy of the system. According to the hypothesis, the mathematical model of the quadrotor aircraft is established, and robustness servomechanism linear quadratic regulator controller is designed using linear model to meet the strong robustness requirements of the system. Aiming at the uncertainties of the system, a projection-based model reference adaptive control is introduced to counteract the influence of unknown factors on the system. The simulation results show that the robust adaptive controller has good control effect.
Research on Attitude Control of Quadrotor Aircraft Based on Robust Adaptive Method
01.08.2018
183104 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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