Abstract
A new method is proposed in this paper in view of the problem of stability and translation tracking control of small scale quadrotor helicopter. The dynamic model of quadrotor helicopter is established based on Newton Euler equation and rigid body theory, and model of the relation-ship between lift and input control signal is established by secondary fitting. The adaptive control-optimization (ACO) method is applied to the control system for the first time, and it has realized the attitude stability and translation tracking control of quadrotor helicopter. Results of simula-tion and real-flight experiment show that adaptive con-trol-optimization (ACO) method has better robustness and real-time performance on attitude and translation control in comparison with common adaptive control methods. DOI: http://dx.doi.org/10.5755/j01.mech.19.5.5533
Highlights
Small scale unmanned aerial vehicles (UAV) have been expected by many fields such as geological exploration, agricultural spraying, atmospheric monitoring, disaster early warning, and target acquisition
The method belongs to the author's original research in the application of quadrotor helicopter control, and there is no reference to existing literature
This paper introduces a kind of adaptive optimal control method, which is used to control the translation and attitude of quadrotor helicopter
Summary
Small scale unmanned aerial vehicles (UAV) have been expected by many fields such as geological exploration, agricultural spraying, atmospheric monitoring, disaster early warning, and target acquisition. In reference [10], an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter; in reference [11], adaptive fuzzy controller has been designed, using alternate adaptive parameters in the adaptation scheme for quadrotor helicopter robust to wind buffeting; in reference [12], image based visual servoing had been used in the quadrotor control, in which adaptive backstepping control generates input signals for propellers to track the reference velocity accurately even under uncertain effects These methods are difficult to achieve, because of still needing accurate mathematical model, or requiring a large amount of the sensor and the observer, or the structure of the controller is still very complex. The method belongs to the author's original research in the application of quadrotor helicopter control, and there is no reference to existing literature
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