Research of stability augmentation flight control algorithm for quadrotor unmanned air vehicles

To improve the flight stability of quadrotor unmanned air vehicles (UAVs) flight control problem, a stability augmentation controller design approach is presented under parameter variations and external disturbances. The controller is made of two parts: an inner-loop attitude controller and an outer...

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Bibliographic Details
Published inProceeding of the 11th World Congress on Intelligent Control and Automation pp. 5197 - 5202
Main Authors Qingji Gao, Fengfa Yue
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2014
Subjects
Algorithm design and analysis
Attitude control
Backstepping
flight control
fuzzy adaptive PID
Mathematical model
quadrotor UAV
Rotors
stability augmentation
Stability criteria
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Summary:To improve the flight stability of quadrotor unmanned air vehicles (UAVs) flight control problem, a stability augmentation controller design approach is presented under parameter variations and external disturbances. The controller is made of two parts: an inner-loop attitude controller and an outer-loop position controller. The inner-loop attitude controller is designed with backstepping algorithm. The outer-loop position controller is realized with fuzzy adaptive PID algorithm. The stability augmentation controller and its performance are evaluated using a non-linear, six degree of freedom (DOF) dynamic model of a quadrotor UAV in simulate and practical experiments. The results illustrate that the proposed controller can effectively realize the stability.
DOI:10.1109/WCICA.2014.7053599