Model Based Automatic Regulation Process for Guidance and Control of Quadrotor UAV

摘要

In this literature, model based automatic regulation process is proposed for guidance control of a Quadrotor UAV. The performance of the system will be first tuned to match the performance of the reference model. It gives more convenient way for cope with different load for different mission. The automatic regulation process is used to adjust parameters of the basic control system that is well designed. The basic control system includes: (a) height control system using velocity stabilizing in the inner loop; (b) roll, pitch and yaw attitude control systems using angular rate stabilizing in inner loops. Base upon the basic control system, X B and YB body axes velocities control laws and locus tracking laws can be added also. This application is different from conventional velocity, and position control techniques of conventional fix-fin UAV's. The proposed method is verified by vast digital simulations.