Design and Simulation of Eight-Rotor Unmanned Aerial Vehicle Based on Hybrid Control System

In order to control the position and attitude of unmanned aerial vehicle (UAV) better in different environments, this study proposed a hybrid control system with backstepping and PID method for eight-rotor UAV in different flight conditions and designed a switching method based on altitude and attitude angle of UAV. The switched process of hybrid controller while UAV taking off, landing, and disturbance under the gust is verified in MATLAB/Simulink. A set of appropriate controllers always matches to the flight of UAV in different circumstances, which can speed up the system response and reduce the steady-state error to improve stability. The simulation results show that the hybrid control system can suppress the drift efficiently under gusts, enhance the dynamic performance and stability of the system, and meet the position and attitude of flight control requirements.

[1]  ChangSu Ha,et al.  Passivity-based adaptive backstepping control of quadrotor-type UAVs , 2014, Robotics Auton. Syst..

[2]  Hossein Bolandi,et al.  Attitude Control of a Quadrotor with Optimized PID Controller , 2013, Intelligent Control and Automation.

[3]  Youmin Zhang,et al.  Gain Scheduling Based PID Controller for Fault Tolerant Control of a Quad-Rotor UAV , 2010 .

[4]  Wang Lu Research on hybrid control system of quadrotor UAV , 2013 .

[5]  Qinghe Wu,et al.  Research and application of nonlinear control techniques for quad rotor UAV , 2012, Proceedings of the 31st Chinese Control Conference.

[6]  Guoqing Xia,et al.  Research on hybrid control system of quadrotor UAV: Research on hybrid control system of quadrotor UAV , 2013 .

[7]  Jian Li,et al.  Backstepping Based Adaptive Control for a Mini Rotorcraft with Four Rotors , 2010, 2010 Second International Conference on Computer Modeling and Simulation.

[8]  Bengt Lennartson,et al.  Hybrid systems in process control , 1996 .

[9]  Nguyen-Vu Truong,et al.  Hybrid Terminal Sliding Mode Control and quadrotor's vision based ground object tracking , 2013, 2013 International Conference on Control, Automation and Information Sciences (ICCAIS).

[10]  Vijay Kumar,et al.  Recent advances in quadrotor capabilities , 2011, 2011 IEEE International Conference on Robotics and Automation.

[11]  Bo Hu,et al.  Disturbance attenuation properties of time-controlled switched systems , 2001, J. Frankl. Inst..

[12]  Cheolkeun Ha,et al.  Modeling and control of quadrotor MAV using vision-based measurement , 2010, International Forum on Strategic Technology 2010.

[13]  Zhang Le Attitude Control of Four-Rotor Aircraft via Fuzzy PID , 2014 .

[14]  Yao Wang,et al.  Distributed cooperative control for multiple quadrotor systems via dynamic surface control , 2013, Nonlinear Dynamics.

[15]  Zain Anwar Ali,et al.  Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV , 2016, Sensors.

[16]  Qingbo Geng,et al.  Obstacle avoidance approaches for quadrotor UAV based on backstepping technique , 2013, 2013 25th Chinese Control and Decision Conference (CCDC).

[17]  Frank L. Lewis,et al.  Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics , 2009, J. Intell. Robotic Syst..

[18]  Shigenori Sano,et al.  Robust Tracking Control of a Quad-Rotor Helicopter Utilizing Sliding Mode Control with a Nonlinear Sliding Surface , 2013 .