四旋翼无人机飞行姿态模型参考自适应控制  

Model Reference Adaptive Attitude Control Method for Quadrotor UAV

作　　者：陈国定[1] 程嘉晖 张晓峰[1] 柳正扬 

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《计算机系统应用》2015年第11期247-251,共5页Computer Systems & Applications

基　　金：国家级大学生创新创业训练项目(201410337034);浙江省大学生科技创新活动计划(2014R403050)

摘　　要：四旋翼无人机具有机械结构简单、可垂直起降等优势,在各个领域都有极广泛的应用.经典控制算法如PID对无人机在受扰动或环境变化时的控制效果不理想,难以调节至平衡状态.论文对动力学建模加以适当简化,设计了自适应控制律,数值仿真实验结果表明,模型参考自适应控制能在很大范围内有效屏蔽干扰,验证该算法是有效的.Quadrotor UAV is a research hotspot in recent years, who is widely used in many fields because of its advantages in simple structure and vertical take-off and landing. The control effect of classical control algorithm, such as PID Control algorithm, is not satisfying when the UAV is under disturbance or in a changing condition, the UAV can＇t be adjusted to equilibrium state when it＇s under large disturbance. This paper modeled through dynamics and properly simplified it, designed the adaptive control law, and the numerical experiment shows that model reference adaptive control can block out disturbance, verifies that this algorithm is effective.

关 键 词：四旋翼无人机 自适应控制 模型参考 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计]