ATTITUDE CONTROL OF SMALL UNMANNED FOUR-ROTOR HELICOPTER BASED ON ADAPTIVE INVERSE CONTROL THEORY

摘要

A dynamic model of small unmanned four-rotor built according to Newton-Euler formalism was proposed in this paper. Base on this model, Adaptive Inverse Control (AIC) Theory was used in the control of the small unmanned four-rotor for the first time and the attitude stabilization control was also realized on the experimental platform. The attitude control experiment indicates that AIC is robust in the attitude control of the small unmanned four-rotor.