Abstract

AbstractProportional-integral-derivative (PID) control is widely used in controlling the rotor unmanned aerial vehicle (RUAV). When RUAV performing tasks, it may be required to bear different burdens. However, the original PID parameters may not guarantee the flight performance of RUAV, which will cause not tracing on the expected trajectory, or even being crashed. In order to solve this problem, a mass adaptive controller is designed. Firstly, quadcopter is regarded as the research object and its dynamics model is built. Secondly, a cascaded PID controller is designed to ensure the unloaded quadcopter to fly stably. The mass observer is designed to estimate the mass of burden, which the adaptive control law is constructed. Based on Lyapunov stability theory, the controller is proved to be asymptotically convergent. The adaptive controller combined with PID controller acts as controller jointly. Finally, a model is built in MATLAB/Simulink and simulation result shows that the quadcopter can track the desired trajectory on z axis well with various burdens.KeywordsQuadcopterUncertain burdenMass estimateCascaded PID controlAdaptive control

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