四旋翼飞行器建模、控制与仿真

四旋翼飞行器在平面结构上具有4个平均分布且呈十字对称的推进器。建立了机体坐标系和惯性坐标系，根据飞行器的动力学特性建立该飞行器的数学模型；利用滑模控制的方法对所建立的模型进行研究；在满足李雅普诺夫稳定条件下，利用反演控制方法推导出控制滑模面，并建立滑模控制律；最后，在给定参数值的情况下，通过所建立的控制律对该飞行器的滑模控制进行了仿真。

Modeling, Control and Simulation of a Quadrotor Aircraft

The quadrotor has four propellers which equally distribute on the flat surface structure, and symmetry in the cross. The inertial frame and body frame were set up, and the mathematics model of that aircraft was built up according to the dynamics characteristic of the quadrotor. The sliding mode control method was selected to carry on a research based on the mathematics model. Based on the backstepping approach and in order to ensure the Lyapunov stability, the sliding mode law was set up. Finally, simulation of the sliding mode control law for the aircraft was taken under the given parameter.