四旋翼飞行器反步自适应PID控制

Inversion Adaptive PID Control for Quadrotor Air Vehicles

针对四旋翼姿态控制算法的优化问题,提出了一种基于反步自适应控制与经典PID控制相结合的优化控制算法。该组合算法是将由不同控制算法设计出的控制器结合使用,即将控制系统分为两个回路:姿态角及高度通道为内回路,平面通道x和y为外回路。仿真结果表明,反步自适应PID控制算法有着非常好的控制性能,与其他控制算法相比,在稳定性、响应、抗干扰性及精确度等方面都有较大的提高。

An optimization control algorithm based on the combination of inversion adaptive control and classic PID control is proposed for the optimization of the quadrotor attitude control algorithm.The algorithm uses the controllers designed by different control algorithms in combination.The control system is divided into two loops:the attitude angle and height channel are inner loops,and the plane channels x and y are outer loops.The simulation results show that the inversion adaptive PID control algorithm has a very good control performance.Compared with other control algorithms,it has a great improvement on stability, response,anti-jamming ability and accuracy.