Research on the Flight Control for an Asymmetrical X-quadrotor

摘要

The paper presents an asymmetrical structure of X-quadrotor,which is different from the traditional quadrotor and is more complicated in the analysis of control forces and moments.A novel control method based on backstepping is applied in the attitude loop.And the compensation for perturbations of outer environment and noise of the measurements has been done.Then,various simulations are performed and the results show the system has a quick response with small overshoot and good dynamic characteristics.Finally,the experiments are implemented on the prototype.The flight test data has validated the robustness of the control algorithms.