基于自适应控制的四旋翼飞行器控制系统研究

Research on Control System of Qudarotor Aircraft Based on Self-Adaptive Control

四旋翼飞行器的模型参数具有不确定性和时变性,在复杂环境下执行任务时容易受到外界环境的干扰,导致常规控制器很难使四旋翼按照期望的轨迹稳定飞行。针对这一问题,基于Lyapunov稳定理论设计了一种性能优越的模型参考自适应控制方法。首先对四旋翼飞行器进行动力学建模,然后基于模型设计了自适应控制律。仿真结果表明,与常规PID控制方法相比,自适应控制方法能有效改善飞行过程中的漂移和震动,提高飞行器的抗干扰能力和自我调节能力。

The model parameters of quadrotor aircraft are uncertain and time-varying,so the quadrotor aircraft can be easily disturbed by the external environment when perfoming tasks in the complex environment,and it is difficult for the conventional controllers to keep the quadrotor aircraft flying stably in the desired trajectory. To solve this problem,a model reference adaptive control method based on the Lyapunov stability theory is designed in this article. Firstly,dynamic modeling of the quadrotor aircraft is performed; then the adaptive control law is designed based on the model. The simulation results show that compared with the conventional PID control method,the adaptive control method can effectively improve the drift and vibration during flight,and improve the anti-jamming ability and self-adjustment ability of the aircraft.