基于STM32的四旋翼飞行器控制系统设计与应用

摘要

The quadrotor is a underactuated control system which has six degrees of freedom outputs and only four control variables inputs,So the design of its control system is particularly important.A asymptotically stable controller is designed through the backstepping algorithm ,which used to be its navigation and control method. Numerical simulations are provided to illustrate the quadrotor is full of certain quickness and can fly steadily with small angle devition,less than 0.3 degrees,and good tarcking based on the model and matlab.%针对四旋翼飞行器是由4个控制量输入,6个自由度输出的欠驱动系统,其控制系统的设计尤为关键.本文采用反步法控制策略作为四旋翼飞行器的导航以及控制方法,设计出渐进稳定控制器.结合系统的动力学模型与matlab进行仿真实验.通过仿真实验得到反步法设计的控制系统快速稳定,角度偏差小,在0.3度之内,跟踪性良好.