针对四旋翼无人机模型中存在非线性因素和不确定干扰的姿态控制问题,采用基于投影算子的L1自适应控制方法进行四旋翼无人机姿态控制律设计;首先根据四旋翼无入机运动原理建立多人多出的非线性姿态运动模型,然后针对模型中存在的陀螺力矩干扰、质量分布不均引起的力矩干扰、环境干扰和自身非线性影响,设计L1自适应控制器,分析了系统的鲁棒性能;仿真结果表明了控制系统在满足良好动态性能的同时能够保证良好的鲁棒性.%L1 adaptive control laws to the attitude control of quadrotor is proposed in the presence of nonlinear factors and uncertain interference.The multi-input multi-output nonlinear attitude model is set up firstly according to the principle of quadrotor UAVs,and then design L1 adaptive controller for angular rate control according to gyroscopic moments,uncertainty in the moment of inertia due to imprecise knowledge of mass distribution,the disturbance of the environment and the nonlinear influence in models.The projection operator is used to ensure the bounds of the estimated parameters,a method of estimating the unknown parameter robustness of system is proposed.The simulation results show that the control system can satisfy good dynamic performance with guaranteed good robustness.
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