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针对四旋翼飞行器是由4个控制量输入,6个自由度输出的欠驱动系统,其控制系统的设计尤为关键。本文采用反步法控制策略作为四旋翼飞行器的导航以及控制方法,设计出渐进稳定控制器。结合系统的动力学模型与matlab进行仿真实验。通过仿真实验得到反步法设计的控制系统快速稳定,角度偏差小,在0.3度之内,跟踪性良好。
The quadrotorcraft is an under-driven system with 4 DOFs and 6 DOFs. The design of the control system is particularly critical. In this paper, the backstepping control strategy is used as the navigation and control method of quadrotor to design a gradual and steady controller. Combined with the system dynamics model and matlab simulation experiment. Through the simulation experiment, the control system designed by the backstepping method is fast and stable, and the angle deviation is small, within 0.3 degrees, the tracking performance is good.