四旋翼飞行器的建模及基于反步法的控制

Modeling and Control of a Quadrotor Based on the Backstepping Method

研究了基于反步法的四旋翼飞行器控制系统设计问题。建立四旋翼飞行器简化六自由度模型的基础上,采用多回路结构实现飞行器的控制目的。利用反步法设计姿态稳定回路,实现对给定姿态、航向和高度的渐近跟踪。位置回路采用带饱和的PD控制器,为姿态回路提供参考信息,实现对位置的稳定控制。仿真结果表明,飞行器位置稳定和航迹跟踪的效果满意,验证了本文控制律设计方法的正确性和有效性。

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 controller based on the backstepping method is implemented to stablize the inner 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,the simulation of the quadrotor demonstrates the suitability and validity of the proposed control algorithm.