Control System Design and implementation of a Quadrotor Unmanned Aerial Vehicle

摘要

In this paper, a method of embedded system with multi-processor is proposed, so as to satisfy the requirement of strong real-time property, high computational performance and multi-task function of the flight control system. In addition, in order to solve the problems of unknown aerodynamic disturbance and weight uncertainties during flight, a hybrid control method based on sliding mode control (SMC) and model referenced adaptive control (MRAC) is proposed. Through the Lyapunov stability analysis, it's proved that the controller is stable. Various simulations were performed and several experiments on the quadrotor UAV validate the control strategies.