Aaptive control-optimization of a small scale quadrotor helicopter

A new method is proposed in this paper view of the problem of stability and translation tracking control of small scale quadrotor helicopter. The dynamic model of quadrotor helicopter is established based on Newton Euler equation and rigid body theory, model of the relationship between lift and input control signal is established by secondary fitting. The adaptive control-optimization (ACO) method is applied to the control system for first time, and it has realized the attitude stability translation tracking control of quadrotor helicopter. Results of simulation and real-flight experiment show that adaptive control-optimization (ACO) method has better robustness and real-time performance on attitude and translation control in comparison with common adaptive control methods.