Control System Design and Implementation of a Quadrotor Unmanned Aerial Vehicle

De Xin Xu; Guang Chun Li; Lu Wang

doi:10.4028/www.scientific.net/AMR.466-467.749

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 466-467Control System Design and Implementation of a...

Control System Design and Implementation of a Quadrotor Unmanned Aerial Vehicle

Abstract:

In this paper, a method of embedded system with multi-processor is proposed, so as to satisfy the requirement of strong real-time property, high computational performance and multi-task function of the flight control system. In addition, in order to solve the problems of unknown aerodynamic disturbance and weight uncertainties during flight, a hybrid control method based on sliding mode control (SMC) and model referenced adaptive control (MRAC) is proposed. Through the Lyapunov stability analysis, it’s proved that the controller is stable. Various simulations were performed and several experiments on the quadrotor UAV validate the control strategies.

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Periodical:

Advanced Materials Research (Volumes 466-467)

Pages:

749-753

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.466-467.749

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Online since:

February 2012

Authors:

De Xin Xu, Guang Chun Li, Lu Wang

Keywords:

Embedded System, Hybrid Control, Multi-Processor, Quadrotor UAV

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References

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