Autonomous flight control system of quadrotor and its application to formation control with mobile robot

Due to the limitation of the size and power, micro unmanned aerial vehicle (MUAV) usually has a small load capacity. Aiming at the problems of limited installation space and easy being interfered in flight attitude measurement of the small-scale unmanned helicopter (SUH), a low-cost and lightweight flight control system of the SUH based on ARM Cortex-M4 core microcontroller and Micro-Electro-Mechanical Systems (MEMS) sensors is developed in this paper. On this basis, in order to realize the autonomous flight control of SUH, firstly, the mathematical model of the SUH is given by using the Newton-Euler formulation. Secondly, a cascade flight controller consisting of the attitude controller and the position controller is developed based on linear active disturbance rejection control (LADRC) and proportional-integral-derivative (PID) control. Furthermore, simulations are conducted to validate the performance of the attitude controller and the position controller in MATLAB/SIMULINK simulation environment. Finally, based on the Align T-REX 470L SUH experimental platform, the hovering experiment and the route flight experiment are also carried out to validate the performance of the designed flight control system hardware and the proposed control algorithm. The results show that the flight control system designed in this paper has high reliability and strong anti-interference ability, and the control algorithm can effectively and reliably realize the attitude stabilization control and route control of the SUH, with high control accuracy and small error.

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Autonomous Flight Control System for Longitudinal Motion of a Helicopter

Advances in Flight Control Systems ◽

10.5772/14784 ◽

2011 ◽

Author(s):

Atsushi Fujimori

Keyword(s):

Control System ◽

Flight Control ◽

Longitudinal Motion ◽

Flight Control System ◽

Autonomous Flight

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Multivariable adaptive distributed leader-follower flight control for multiple UAVs formation

The Aeronautical Journal ◽

10.1017/aer.2017.42 ◽

2017 ◽

Vol 121 (1241) ◽

pp. 877-900 ◽

Cited By ~ 2

Author(s):

Y. Xu ◽

Z. Zhen

Keyword(s):

Adaptive Control ◽

Control System ◽

Flight Control ◽

Control Strategy ◽

Formation Control ◽

Parametric Uncertainty ◽

Lyapunov Theory ◽

Formation Flight ◽

Flight Control System ◽

Multiple Uavs

ABSTRACTThe Unmanned Aerial Vehicles (UAVs) become more and more popular due to various potential application fields. This paper studies the distributed leader-follower formation flight control problem of multiple UAVs with uncertain parameters for both the leader and followers. This problem has not been addressed in the literature. Most of the existing literature considers the leader-follower formation control strategy with parametric uncertainty for the followers. However, they do not take the leader parametric uncertainty into account. Meanwhile, the distributed control strategy depends on less information interactions and is more likely to avoid information conflict. The dynamic model of the UAVs is established based on the aerodynamic parameters. The establishment of the topology structure between a collection of UAVs is based on the algebraic graph theory. To handle the parametric uncertainty of the UAVs dynamics, a multivariable model reference adaptive control (MRAC) method is addressed to design the control law, which enables follower UAVs to track the leader UAV. The stability of the formation flight control system is proved by the Lyapunov theory. Simulation results show that the proposed distributed adaptive leader-following formation flight control system has stronger robustness and adaptivity than the fixed control system, as well as the existing adaptive control system.

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