Abstract
This research combines a next-generation wireless network and a quadrotor unmanned aerial vehicle (UAV) to create a real-time wireless network quadrotor UAV flight control system. Three major problems will occur when the system operates, such as external disturbances, internal actuator failures and wireless network association failures (random delay and packet loss). We propose a hierarchical distributed comprehensive robust adaptive fault-tolerant control algorithm based on robust fault-tolerant theory to improve the performance of this system. The simulation and flight experimental test results show that when this system is analyzed with respect to external disturbances, internal actuator failures and wireless network association failures, the designed controller stability is asymptotically stable, the performance of this system is very good and the system provides a strategy for establishing a ground-to-air self-organizing wireless network.
Highlights
With the development of cross-integration disciplines such as control theory and control engineering, communication systems, automation technology, and wireless communication, today’s control systems are becoming increasingly complicated
MATHEMATICAL MODEL OF A QUADROTOR unmanned aerial vehicle (UAV) From references [1]–[3], we can obtain a mathematical model of a quadrotor, and the transfer functions of the three angles of pitch angle, roll angle and travel angle are as follows: The dynamic model of a quadrotor UAV is given by equation (1):
The mathematical model of the quadrotor UAV is given by equation (2):
Summary
With the development of cross-integration disciplines such as control theory and control engineering, communication systems, automation technology, and wireless communication, today’s control systems are becoming increasingly complicated. The properties of control objects are becoming less restricted by the disciplines, and the performance standards of control systems are increasing. The real-time wireless network quadrotor unmanned aerial vehicle (UAV) flight control system is an integrated modern communication system, with control algorithms and a remote flight control system. The system incorporates the characteristics of wireless communication networks and control technologies, includes the advancement of computer and wireless communication network technology into the control field and. Reflects the integrated development trend of automatic control systems in networks, integration and layered distribution. Studying a wireless networked quadrotor flight control system has considerable research value and applications
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