|Flight and Hover Control System Design for a Mini-quadrotor Based on Multi-sensors
Zhongli Ma, Huixin Li*, Yanming Gu, Zuoyong Li, and Qianqian Li
International Journal of Control, Automation, and Systems, vol. 17, no. 2, pp.486-499, 2019
Abstract : "Mini-quadrotor is difficult to control in the air due to its small size and light weight. This paper presents
the flight and hover control system for a mini-quadrotor, including design and simulation of calculations and controllers.
Firstly, the attitude and position of the mini-quadrotor are obtained by distributed multi-sensors. Since attitude
calculation of aircraft needs a number of combined rotations and vectors transformed by rotation, quaternions
are applied to express the attitude model. About error compensation of gyroscope and accelerometer, IMU_Updata
algorithm of Mahony filter are applied and improved to realize data fusion . In order to realize accurate hovering
at certain position, UWB (UltraWideband) are applied to gain positional information of mini-quadrotor and correct
the antenna delay caused sensor error by base station positioning. The discrete Kalman filter of original data is used
to achieve the optimized estimation of the airborne position. Px4flow optical flow sensor is able to gets velocity
information and avoid the noise problem, which is caused by differential of position data. Then, the mathematical
model of a mini-quadrotor’s flight and hover control system can be established. Herein, integral items are solved by
the integral separation and integral limiting to mitigate the serious overshoot and oscillation of the system caused by
the cascade PID. Finally, the simulation of the attitude controller and position controller are applied with the MATLAB
Simulink library. The simulation result shows that the designed attitude controller and position controller can
enable the mini-quadrotor to fly smoothly, move in all directions and hover."
Calculation, controller, flight and hover, mini-quadrotor, multi-sensors.