四旋翼自主飞行器的控制器设计与仿真

四旋翼自主飞行器是一类具有强耦合性和欠驱动特点的空中机器人.从空气动力学和飞行运动学两方面分析并建立了其机理模型,提出了相应的参数辨识方法.根据模型的串级结构,设计了一种新型的控制器,在考虑白噪声的影响下建立了Simulink仿真并验证了该控制方案的稳定性和鲁棒性.

Controller Design and Simulation for Unmanned Quadrotor Vehicle

As a kind of unmanned aerial vehicles,quadrotor has the highly coupled and underactuated features.The physical model for quadrotor vehicles is presented based on the aerodynamics and the flight kinematics.Hereafter,a method for identifying the parameters of the model is proposed.Based on the cascading structure,a new controller is constructed,and the stability and robustness of the presented controller are verified through Simulink while considering the white noise.