Research Self-balancing UAV Takeoff and Landing Control System Based on Quadruped Robot

Abstract

Abstract Aiming at the advantages of UAVs in field survey and search as well as their difficulties in taking off and landing in poor ground environment in the field, a simple self-balancing UAV take-off and landing control system based on a quadruped robot is proposed. Firstly, the simple physical model of the system is established and the mathematical analysis is carried out. Secondly, the inverse kinematics of the single leg model is derived. Thirdly, the attitude sensor is used to measure the attitude angle data of the system platform, and the Kalman filter is used in the software design to filter the attitude angle data, and the PID control algorithm is used to control each leg joint. Finally, The design is simulated by MATLAB and experimentally analyzed, and the test results meet the design requirements.