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首先介绍了四旋翼飞行器的基本工作原理,然后介绍了系统的基本硬件组成、软件的设计和原理。设计了一种跟踪控制算法,得到了跟踪误差有界的充分条件。最后用仿真实例说明了所设计算法的有效性。
First introduced the basic working principle of quadrotor, and then introduced the basic hardware components, software design and principle. A tracking control algorithm is designed and the sufficient conditions for the tracking error to be bounded are obtained. Finally, a simulation example is given to illustrate the effectiveness of the proposed algorithm.