Attitude Control for Small Unmanned Four-rotor Based on Adaptive Inverse Control

Abstract

Abstract: Taking the small unmanned four-rotor as a research object，the attitude control experimental platform was built. The dynamical model of the small fourrotor was built according to Newton-Euler formalism，and adaptive inverse controllers (AIC)was used in the control of the small unmanned four-rotor for the first time. The attitude stabilization control of the small unmanned four-rotor was realized on the experimental control platform. The simulation results and platform control experiment indicate that AIC is real-time and robust in the attitude control of the small unmanned four-rotor.

Key words: small unmanned four-rotor, adaptive inverse control(AIC), dynamical modeling, least mean square(LMS) algorithm

CLC Number:

TP 273.2

LI Jin-Song-a, SONG Li-Bo-a, YAN Guo-Zheng-b. Attitude Control for Small Unmanned Four-rotor Based on Adaptive Inverse Control[J]. Journal of Shanghai Jiaotong University, 2012, 46(06): 956-961.

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