关键词: 四旋翼无人飞行器, 非线性模型, 线性二次型调节器, PID控制算法

Abstract: For Qball-X4 four-rotor unmanned aircraft with its own characteristics, creating nonlinear model of system and adopting double closed-loop control algorithm with inner and outer loop are controlled by attitude and position respectively. Linear quadratic regulator is easy to solve state feedback control rate quickly, and has good robustness, thus LQR is utilized to design attitude inner loop controller. Due to the PID control algorithm has simple structure, strong robustness, thus PID is utilized to design position loop controller. Utilize Matlab/Simulink and flight test to verify control algorithm, and the result shows that the control algorithm can successfully achieve the hovering control, and achieve good control effect.

Key words: four-rotor unmanned aircraft, nonlinear model, linear quadratic regulator, PID control algorithm