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1、ProceedingsofICCT2015SurveyofAdvancesinControlAlgorithmsofQuadrotorUnmannedAerialVehicleLbeaoL·I12',L·mgI·mgSun,2J.J.Iem3lCollegeofElectricalEngineeringZhejiangUniversity,Hangzhou310027,China2KeyLaboratoryofRFCircuitsandSystemsHangzhouDianziUniversity,Han
2、gzhou310018,China3SchoolofElectronicEngineeringDublinCityUniversity,Dublin9,Irelandlilebao0305@gmail.com,sunll@hdu.edu.cn,jiejin4@mail.dcu.ieAbstract:First,thebasicstructureandprincipleofsurveyingandmapping,searchandrescueoperations,quadrotorUAVanditsprac
3、ticalapplicationsareresourceexploration,environmentalprotection,introduced.Then,somecontrolalgorithmsarealsoatmosphericmonitoring,trafficmonitoring,borderpresented,suchas,PID,LQRlLQG,Hn,slidingmode,patrolling,inspectionofpowerlines,loadcarryingandfeedback
4、linearization,backstepping,modelpredictive,transport,cropmonitoringandspraying,anti-terroristrobust,adaptive,nestedsaturation,fuzzylogic,neuralinvestigation,disastermonitoring,etc[2-4].So,forthenetwork,reinforcementlearning,iterativelearning,purposeofsucc
5、essfulapplicationofquadrotorUAVinmemoryandbrainemotionallearning-basedintelligenttheactual,itisofgreatsignificancetoresearchonthecontrollers,andthemeritsanddrawbacksofthemarecontrollingquadrotorUAV.analyzed.Atlast,wepredictthemainresearchdirectionHowever,
6、therearemanyproblemsinflightcontrolleronthefutureresearchesofquadrotorUAY.designing.Firstofall,asarotary-wingaircraftandanKeywords:Quadrotorunmannedaerialvehicle(UAV);inherentnonlinearsystem,thequadrotorisopen-loopControlalgorithms;Linearandnonlinear;Lear
7、ninginstable,whichrequiresaveryfastcontrolresponseandalargeoperationrange[5].Second,thequadrotorUAV1Introductionpossesspropertyof,whichleadstostrongcouplingbetweenthedynamicstates.Third,thevalueofsomeQuadrotorunmannedaerialvehicles(UAVs)isakindofparameter
8、ssuchastheinertialmomentsandmulticopterwhichisliftedandpropelledbyfourfixedaerodynamiccoefficients,whichisassociatedwiththerotors.Incontrastwithasingle-rotorhelicopter,adynamicmodel,cannotbemeasuredorobtainedexactly
