Research of Stability Augmentation Hybrid Controller for Quadrotor UAV
The design of a flight controller not only stabilizes attitude angle, but also tracks a trajectory accurately. For a quadrotor unmanned aerial vehicle (UAV) in presence of parametric uncertainties and external disturbances is more challenging. A hybrid control method based on backstepping and fuzzy adaptive PID is proposed, which improves the flight stability of quadrotor aircraft in different conditions. The method selects the current appropriate controller according to the quadrotor UAV flight condition and large attitude angle, large attitude rate. In the case of undisturbed condition, backstepping-based control algorithm can complete trajectory tracking. In case of disturbance, fuzzy adaptive PID can greatly suppress the impact of disturbance and improve the control precision. The stability augmentation hybrid controller and its performance are evaluated using a non-linear, six degree of freedom (DOF) dynamic model of a quadrotor UAV in simulate and practical experiments. The results illustrate that the stability augmentation hybrid controller can effectively realize the stability.
Backstepping Hybrid control Quadrotor UAV Stability augmentation control Fuzzy adaptive
Qingji Gao Fengfa Yue Dandan Hu
Robotics Institute, Civil Aviation University of China, Tianjin 300300, China
国际会议
长沙
英文
5224-5229
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）