Design of Synchronization Controller for the Station-Keeping Hovering Mode of Quad-Rotor Unmanned Aerial Vehicles

다국어 초록 (Multilingual Abstract)

Quad-rotors are a common type of small unmanned aerial vehicles (UAVs) that consist of a body frame connected to four independent motors. The motors in quad-rotor UAVs are independently controlled by tracking controllers, which receive no information for each other. The overall performance of quad-rotor UAVs is affected by the performance of its motor control.
Therefore, poor performance in the control of its motors causes the overall performance of quad-rotor UAVs to deteriorate. In this paper, we address this issue by developing a synchronization controller (SYNC) for a quad-rotor UAV for achieving the station-keeping hovering. The proposed control scheme consists of two controllers, which include a sliding mode controller (SMC) that is used to control the motor velocity, and a motor synchronization controller (M_SYNC) based on a PID and neural network controller that is used to compensate for the synchronization errors that occur between the motors due to system nonlinearities, uncertainties and external disturbances. To guarantee the stability of the quad-rotor UAV, a Lyapunov stability condition was introduced to design both the SMC and the M_SYNC. The proposed SYNC controller was evaluated through numerical simulations. The simulation results demonstrate that the SYNC controller was effective at improving the tracking performance of the UAV.

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