Adaptive Attitude Control Method of Quadrotor Based on Disturbance Observer
For the effect of a quadrotor carrying a payload with unknown mass on the attitude control of the airframe,this paper proposes an adaptive control method based on a perturbation observer.This paper first introduces the dynamics model of the quadrotor when carrying a payload of unknown mass,and then designs a perturbation observer and proposes an adaptive attitude controller for the disturbance caused by the payload of unknown mass to the quadrotor.The stability of this controller is demonstrated in the paper using the Lyapunov method.Finally,the effectiveness of the controller is verified by carrying a payload of unknown mass on the quadrotor and using the adaptive controller and the backstepping controller to control the quadrotor attitude for comparison experiments,respectively.
quadrotoradaptive controldisturbance observerunknown mass payload
万方数据
维普
