四旋翼无人机飞行控制算法综述

An Overview of Flight Control Algorithms for Quadrotors

四旋翼无人机在许多领域得到广泛的应用,飞行控制算法是四旋翼无人机的控制中枢,决定着四旋翼无人机的飞行状态及所能实现的飞行动作。国内外学者对四旋翼无人机的飞行控制算法进行深入研究,取得了丰硕的成果。针对近年来飞控算法研究成果进行系统总结,主要介绍常用的四旋翼无人机飞行控制算法的设计原理并简要评析,指出当前各种飞控算法的优点及不足之处,讨论未来飞控算法的研究趋势,以期为该领域的研究提供参考。

Quadrotor UAVs have been widely used in various fields. Flight control algorithms are the control center of the UAV, which determine the flying state and achievable maneuvers of the UAVs. Scholars at home and abroad have made abundant accomplishments by their intensive study about the controllers of quadrotors. This paper systematically summarizes and evaluates the research findings of flight control algorithms in recent years, mainly introduces and briefly evaluates their fundamental design principles, points out the strengths and weaknesses of each algorithm and discusses their research prospects. The purpose is to provide some reference for the research in the area of flight control of quadrotors.