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首页> 外文会议>International Conference on Methods and Models in Automation and Robotics >A Simple Heuristic Approach for Attitude/Altitude Control of a Quadrotor with Uncertain Parameters
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A Simple Heuristic Approach for Attitude/Altitude Control of a Quadrotor with Uncertain Parameters

机译：参数不确定四旋翼姿态/高度控制的简单启发式方法

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摘要

In this article we present a simple control procedure for a quadrotor that ensures convergence to a required altitude and attitude set-points under conditions of unknown physical parameters. The quadrotor model is highly nonlinear. The altitude set-point strategy is based on a two-mode control strategy: coarse and the fine motion modes and a sort of huristic process. In the first control mode we apply piecewise control functions. In the attitude regulation the design procedure is based on the passivity-based approach and in particular the controller is independent of the system physical parameters. The considered control strategy might be useful in various aerial missions in which stable hovering is required as for example in reconnaissance and aerial photography flights. The control design complies with the system structure which restricts the thrust force to act in one direction. Simulation results demonstrate the controller performance.
机译：在本文中，我们提出了一种四旋翼飞机的简单控制程序，该程序可确保在未知物理参数的条件下收敛至所需的高度和姿态设定点。四旋翼模型是高度非线性的。高度设定点策略基于两种模式的控制策略：粗略运动模式和精细运动模式，以及一种加速过程。在第一种控制模式下，我们应用分段控制功能。在姿态调节中，设计过程基于基于被动性的方法，尤其是控制器独立于系统物理参数。考虑到的控制策略在需要稳定悬停的各种空中任务中可能是有用的，例如在侦察和空中摄影飞行中。控制设计符合限制推力沿一个方向作用的系统结构。仿真结果证明了控制器的性能。

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