Title :
Research of precision flight control for quadrotor UAV
Author :
Gao Qingji ; Yue Fengfa ; Hu Dandan
Author_Institution :
Robot. Inst., Civil Aviation Univ. of China, Tianjin, China
Abstract :
For quadrotor unmanned air vehicles (UAVs) flight stability under external disturbances, a hybrid controller design approach is presented to realize robust control. The hybrid controller consists of an inner-loop attitude controller and an outer-loop position controller. A nonlinear Backstepping controller is implemented for the inner stabilization loop. A fuzzy adaptive PD composite controller is used for the outer loop. The outer loop controller generates the reference trajectories for the inner loop controller to reach the desired waypoint. Numerous simulations and flight test experiments have been performed using the hybrid control algorithm. The results illustrate that the proposed controller can estimate disturbances online and improve the robustness of the system.
Keywords :
PD control; adaptive control; attitude control; autonomous aerial vehicles; control nonlinearities; control system synthesis; fuzzy control; helicopters; position control; robust control; trajectory control; flight stability; fuzzy adaptive PD composite controller; hybrid control algorithm; hybrid controller design approach; inner stabilization loop; inner-loop attitude controller; nonlinear backstepping controller; outer-loop position controller; precision flight control; proportional-derivative controller; quadrotor UAV; quadrotor unmanned air vehicle; robust control; trajectory generation; Attitude control; Backstepping; Brushless DC motors; PD control; backstepping; flight control; fuzzy adaptive PID; fuzzy-PID composite control; quadrotor UAV;
Conference_Titel :
Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4799-4700-3
DOI :
10.1109/CGNCC.2014.7007539