Attitude control of small unmanned four-rotor helicopter based on adaptive inverse control theory

Small unmanned four-rotor helicopter (four-rotor) is a kind of noncoaxial, multirotor, dished vehicle with vertical take off and landing (VTOL) ability. Due to the complexity, strong coupling and sensitivity effects on the environment of four-rotor’s dynamic model, the controller must have high quality of robust and adaptive. According to these requirements, a lot of control theory have been proposed, including Backstepping [1], LQG [2], ADRC [3] and adaptive sliding mode [4]. This paper propose a new method that applying the adaptive inverse control (AIC) theory to attitude stabilization control. The AIC theory uses output difference of real object and its co-input model to drive the inverse model. This model can generate a filtered noise and interference. And the ultimate input is the difference between previous one and this filtered signal. Sections 2-3 construct the experimental platform hardware and dynamic model of four-rotor; Section 4 conducts the structure of AIC controller; Section 5 gives the final result of applying AIC theory to four-rotor attitude control experimental.