无人机非线性姿态控制分析-nonlinear attitude control analysis of unmanned aerial vehicle.docxVIP

abstrac abstract -II- -II- Abstract In recent years, the unmanned aerial vehicle (UAV) has enjoyed high popularity as it is widely used in many areas, such as military and scientific research. Higher standards have been brought forward to the UAV control which is the basis of efficient performance. The UAV is a multiple-input multiple output (MIMO) system, and the conventional linear design method of control system can no longer satisfy the needs of actual needs as the increasing expectations on UAV. The paper studies the nonlinear control method of the UAV. The paper first establishes a six-degrees of freedom mathematical method, and then conduct simulation analysis on the state changes of the UAV system under uncontrolled conditions, drawing a conclusion that the system is unstable. Furthermore, this paper studies the nonlinear dynamic inversion method and analyzes the mathematical model, and designs a UAV inside and outside loop dynamic inversion attitude controller. Meanwhile, it simulates the UAV attitude control, and analyzes the multivariable decoupling effect and robustness of the controller, concluding that precise linearization control can be achieved under accurate model. But there are still the shortcoming of poor robustness for the controller . Faced with the defect of nonlinear dynamic inversion, dynamic inversion combined with fractional order PID control method is proposed. Fractional order PID is the combination of the traditional PID and fractional order calculus, and this paper studies the fractional order Oustaloup digital realization algorithm, and compare its advantages over traditional PID. Simulation shows that by the method of the fractional order PID combining with dynamic inverse control, the system robustness is improved obviously. In the end, this paper studies ADRC attitude controller for UAV. First，the paper studies and analyzes the tracking differentiator，the extended state observer and the multivariable decoupling control method. The