ADAPTIVE CONTROL-OPTIMIZATION OF A SMALL SCALE QUADROTOR HELICOPTER

  • Li Jin-song Shanghai Jiao Tong University
  • Yang Lian Shanghai Jiao Tong University
  • Wang Le-tian Shanghai Jiao Tong University
Keywords: quadrotor helicopter, adaptive control-optimization (ACO), modeling, simulation, real-flight experiment

Abstract

A new method is proposed in this paper in view of the problem of stability and translation tracking control of small scale quadrotor helicopter. The dynamic model of quadrotor helicopter is established based on Newton Euler equation and rigid body theory, and model of the relation-ship between lift and input control signal is established by secondary fitting. The adaptive control-optimization (ACO) method is applied to the control system for the first time, and it has realized the attitude stability and translation tracking control of quadrotor helicopter. Results of simula-tion and real-flight experiment show that adaptive con-trol-optimization (ACO) method has better robustness and real-time performance on attitude and translation control in comparison with common adaptive control methods.

DOI: http://dx.doi.org/10.5755/j01.mech.19.5.5533

Published
2013-10-23
Section
DESIGN AND OPTIMIZATION OF MECHANICAL SYSTEMS