Open AccessDesign of Attitude Loop Controller for Six-Rotor UAV Based on L1 Adaptive Method
Author(s) -
Wen Zhou,
Xiaoping Wang,
Bo Liu,
Jia Liu,
Yipeng Chang
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1486/7/072065
Subject(s) - control theory (sociology) , robustness (evolution) , nonlinear system , rotor (electric) , computer science , attitude control , helicopter rotor , control engineering , vibration , adaptive control , engineering , control (management) , artificial intelligence , mechanical engineering , biochemistry , chemistry , physics , quantum mechanics , gene
As for the non-modeling dynamics of the six-rotor UAV during the modeling process, and the presence of uncertain external interferences such as crosswinds during flight, the L1 adaptive control method is used to design the attitude controller of the six-rotor UAV. The force analysis of the six-rotor UAV is performed first to establish a nonlinear dynamic model, and then the nonlinear factors and coupling terms of the model are considered as time-varying parameters and disturbances. The low-pass filter is introduced based on the traditional model reference adaptive algorithm, and the L1 adaptive attitude controller is designed to effectively suppress the high-frequency interference caused by mechanical vibrations of the aircraft. Finally, simulation results show that the algorithm has good dynamic performance and robustness while ensuring system stability.