45results about How to "Improve robust stability" patented technology

The invention discloses a method for controlling the height of a quadrotor unmanned aerial vehicle with improved self-disturbance. The linear dynamic model is decomposed into linear items and uncertain items; Step 3, use the tracking differentiator to obtain the expected value of position and velocity in the height direction; Step 4, use the first-order extended state observer to estimate the disturbance items in the system; Step 5, design based on PD algorithm and error feedback control law of feedforward control, and use the value of the disturbance item estimated by the extended state observer to compensate the system uncertainty item. The present invention constructs a flight mode of acceleration-uniform speed-deceleration by utilizing the improved tracking differentiator to plan the height flight strategy so that the quadrotor UAV can rise (or descend) from one height to another height in the shortest time; and The maximum acceleration during flight and the speed of the constant speed section can be set independently.

The invention discloses a sampling output-based space robot position and attitude active disturbance rejection control method. Firstly, a transition process is arranged for position and attitude signals desired by a system through designing a tracking differentiator to generate smooth signals, over large tracking errors to generate over large control input signals to result in severe output overshoot at an initial moment can be avoided, and the differential signals of the desired signals are obtained to prepare for the controller design. Sampling output signals of the system are used to designa continuous-discrete expansion state observer, the system state and total nonlinear uncertainties are subjected to real-time estimation, the estimated values of the nonlinear uncertainties are compensated to a feedback combination formed by state estimation values outputted by the continuous-discrete expansion state observer and smooth signals and differential signals acquired by the tracking differentiator, a compound controller is formed, nonlinear factors such as internal and external interference can be prevented from executing adverse effects on the system, and a favorable guarantee isprovided for successful completion of space operation tasks.

The invention provides a control method, device and controller for the formation of unmanned aerial vehicles, and relates to the technical field of automation control. The method includes: acquiring current position data and current attitude data of the formation of unmanned aerial vehicles; Determine the vertical position control input and the desired attitude data; According to the current attitude data and the desired attitude data, and the pre-designed robust attitude controller, determine the attitude control input; According to the vertical position control input and attitude control input , to control the formation of UAVs; among them, the robust position controller and the robust attitude controller are realized based on graph theory, backstepping method and robust compensation technology. The consistency of the UAV formation is improved by the topology-based graph theory method; the robust stability of the UAV formation during flight is improved by the robust compensation method.

Unmanned aerial vehicle (UAV) systems are a class of non-affine nonlinear enhanced coupling multiple input multiple output (MIMO) complex systems with input constraints. In order to solve a control problem of the complex systems, the present invention provides an enhanced auto-coupling PI (EAC-PI) cooperative control method for a large unmanned aerial vehicle (UAV). According to the control method provided by the present invention, dynamics and internal / external uncertainties of the UAV are defined as sum disturbances, so that a non-affine nonlinear enhanced coupling MIMO complex system is converted into an uncertain MIMO linear system, and thus an error dynamics system under sum disturbance excitation is established; on this basis, an EAC-PI cooperative controller model is designed for core coupling factors by using a velocity factor and an enchantment factor unrelated to a controlled object model. Theoretical analysis and a simulation result show that the EAC-PI cooperative control system has good global robust stability. The setting problem of PID is effectively solved. The present invention has a wide application prospect in the field of aircraft control.