Dynamics Mutation and Tracking Control of Quadrotors under Multiple Operating Conditions

摘要

This paper presents a systematic study on the important characteristics of linearized quadrotor system models: the interactor matrix and associated high-frequency gain matrix, which are key information for the design of a model reference adaptive control (MRAC) scheme. The paper derives linearized models and transfer matrices at typical operating conditions of a nonlinear quadrotor system. It is discovered that such models belong to two typical groups: one group with a uniform diagonal interactor matrix and the other group with different non-diagonal parameter-dependent interactor matrices. It is also shown that with realistic conditions on the attitude of the quadrotor, the pattern of the signs of the leading principal minors of the high-frequency gain matrices in both groups is fixed, known and non-zero. For the design of a MRAC scheme (which needs a uniform interactor matrix) for all typical operating conditions, an input compensation technique is studied for the quadrotor model and a desired input compensator is designed to assure a uniform interactor matrix. Finally, an adaptive control framework is proposed for a quadrotor at multiple operating conditions.