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59results about How to "Realize limited time control" patented technology
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Direct-current motor finite time control method and system based on inhomogeneous Markov model
InactiveCN108803334ALimited time improvementGuaranteed uptimeAdaptive controlMarkov chainClosed loop
The invention discloses a direct-current motor finite time control method based on an inhomogeneous Markov model. The method includes following steps: collecting running parameters of a direct-currentmotor in various working conditions; according to the running parameters, establishing a mapping relation between direct-current motor working condition jumping and an inhomogeneous Markov chain; onthe basis of the mapping relation, establishing a direct-current motor system state equation based on the inhomogeneous Markov model and building a controller based on a full-dimensional observer; establishing an augmentation closed-loop system equation containing direct-current motor system state and observer state; according to the direct-current motor system state equation, determining a criterion judging that the direct-current motor is stable and bounded in finite time; utilizing a LMI toolkit in MATLAB to solve upper bound when an augmentation closed-loop system meets the criterion; outputting the upper bound with bounded finite time of the augmentation closed-loop system. By the method, stability of the direct-current motor can be improved effectively, control effect worsening of the direct-current motor under impact of adverse factors like complex and severe environment can be prevented, and stable running of the direct-current motor is ensured.
Owner:GUANGDONG UNIV OF TECH
Four-rotor aircraft self-adaptive control method based on exponential enhancement type fast power reaching law and fast terminal sliding mode surface
ActiveCN108563128AIncrease approach speedLimited Time Control DecreaseAdaptive controlTerminal sliding modeTracking error
The invention provides a four-rotor aircraft self-adaptive control method based on an exponential enhancement type fast power reaching law and a fast terminal sliding mode surface. The method comprises the following steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, a dynamics model of the four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding mode surface anda first-order derivative thereof. According to the method, sliding mode control and fast terminal sliding mode control which are based on the exponential enhancement type fast power reaching law are combined so that the reaching speed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity of a system are improved, and rapid and stable control can be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity in a traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.
Owner:ZHEJIANG UNIV OF TECH
Finite-time control method for four-rotor aircraft based on hyperbolic tangent enhanced exponential approach law and fast terminal sliding mode surface
ActiveCN108845497AShorter arrival timeImprove robustnessAdaptive controlStabilization controlTransfer matrix
The invention relates to a finite-time control method for a four-rotor aircraft based on the hyperbolic tangent enhanced exponential approach law and a fast terminal sliding mode surface. The method comprises steps that S1, a transfer matrix from a body coordinate system based on the four-rotor aircraft to an Earth-based inertial coordinate system is determined; S2, a four-rotor aircraft dynamicsmodel is analyzed according to the Newton Euler formula; and S3, a tracking error is calculated, and a controller is designed according to the fast terminal sliding mode surface and a first order derivative thereof. For the four-rotor aircraft system, in combination with hyperbolic tangent enhanced exponential approaching law sliding mode control and fast terminal sliding mode control, not only can the approaching speed be increased during movement away from the sliding mode surface, but also chattering can be reduced, the speed and robustness of the system are improved, fast and stable control is achieved, moreover, finite time control of the tracking error can be achieved, and a problem that the tracking error only tends to zero in a traditional sliding mode surface only when the time tends to infinity is solved.
Owner:ZHEJIANG UNIV OF TECH
Finite time control method for quadrotor aircraft based on exponentially enhanced exponential approach law and fast terminal sliding mode surface
ActiveCN108828937AShorter arrival timeImprove robustnessAdaptive controlStabilization controlTransfer matrix
The invention discloses a finite time control method for a quadrotor aircraft based on an exponentially enhanced exponential approach law and a fast terminal sliding mode surface. The method comprisesthe following steps: 1, determining a transfer matrix from a body coordinate system based on the quadrotor aircraft to an inertial coordinate system based on the earth; 2, analyzing a quadrotor aircraft kinetic model according to the Newton-Euler equation; 3, calculating a tracking error, and designing a controller according to the fast terminal sliding mode surface and a first-order derivative thereof. Aiming at a quadrotor aircraft system, the method combines the exponentially enhanced exponential approach law control and the fast terminal sliding mode control, so the method can increase the approach speed during departing from the sliding mode surface, also can reduce the jitter, improves the quickness and robustness of the system, achieves the quick and stable control, also can achieve the finite time control of the tracking error, and solves a problem that only when time approaches to infinity in the conventional sliding mode surface, can the tracking error approach to zero.
Owner:ZHEJIANG UNIV OF TECH
Adaptive control method of quad-rotor aircraft based on sliding mode surface of index enhanced double-power reaching law and rapid terminal
ActiveCN108646773AIncrease approach speedLimited Time Control DecreaseAttitude controlPosition/course control in three dimensionsDynamic modelsInertial coordinate system
Provided is an adaptive control method of a quad-rotor aircraft based on the sliding mode surface of an index enhanced double-power reaching law and a rapid terminal. The method comprises the following steps that 1) a transfer matrix from a body coordinate system based on the quad-rotor aircraft to an inertia coordinate system based on the earth is determined; 2) a dynamic model of the quad-rotoraircraft is analyzed according to a Newton-Euler formula; and 3) a tracking error is calculated, and a controller is designed according to the sliding mode surface of the rapid terminal and a first-order derivative thereof. Sliding mode control via the index enhanced double-power reaching law is combined with sliding mode control of the rapid terminal, the reaching speed is increased when being far from the sliding mode surface, jittering is reduced, a system is rapider and more robust, rapid and stable control is realized, the tracking error is controlled in limit time, and the problem that the tracking error reaches 0 only if time reaches infinite in a traditional sliding mode surface. The interference boundary is estimated via adaption, and the system stability is improved.
Owner:ZHEJIANG UNIV OF TECH
Adaptive control method for four-rotor aircraft based on enhanced bipower reaching law of inverse proportional function and rapid terminal sliding mode surface
ActiveCN108536018ALimited Time Control DecreaseReduce buffetingAdaptive controlDynamic modelsTransfer matrix
The invention relates to an adaptive control method for a four-rotor aircraft based on an enhanced bipower reaching law of an inverse proportional function and a rapid terminal sliding mode surface. The method comprises the following steps that 1) a transfer matrix from a body coordinate system based on the four-rotor aircraft to the earth based inertia coordinate system is determined; 2) a dynamic model of the four-rotor aircraft is analyzed according to a Newton-Euler formula; and 3) a tracking error is calculated, and a controller is designed according to the rapid terminal sliding mode surface and a first-order derivative thereof. According to the method, sliding mode control of the enhanced bipower reaching law of the inverse proportional function is combined with rapid terminal sliding mode control, the reaching speed can be increased far from the sliding mode surface, buffeting is reduced, the system is rapider and more robust, rapid and stable control is realized, the trackingerror is controlled with limited time, and the problem that the tracking error tends to 0 only when time tends to infinite in a traditional sliding mode surface is solved. The interference boundary isestimated via adaption, and the system stability is improved.
Owner:ZHEJIANG UNIV OF TECH
Four-rotor aircraft self-adaptive control method based on hyperbolic sine exponential enhancement type power reaching law and fast terminal sliding mode surface
ActiveCN108563126AIncrease approach speedLimited Time Control DecreaseAdaptive controlInertial coordinate systemHelicopter rotor
The invention relates to a four-rotor aircraft self-adaptive control method based on a hyperbolic sine exponential enhancement type power reaching law and a fast terminal sliding mode surface. The method comprises the following steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, adynamics model of the four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding modesurface and a first-order derivative thereof. According to the method, the hyperbolic sine exponential enhancement type power reaching law, sliding mode control and fast terminal sliding mode controlare combined so that the reaching speed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity and robustness of a system are improved, and rapid and stable control can be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity in a traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.
Owner:ZHEJIANG UNIV OF TECH
Adaptive control method for quadrotor aircraft based on logarithmically enhanced power approach law and fast terminal sliding mode surface
ActiveCN108829117AIncrease approach speedLimited Time Control DecreaseAttitude controlPosition/course control in three dimensionsEngineeringInertial coordinate system
The invention discloses an adaptive control method for a quadrotor aircraft based on a logarithmically enhanced power approach law and a fast terminal sliding mode surface. The method comprises the following steps: 1, determining a transfer matrix from a body coordinate system based on the quadrotor aircraft to an inertial coordinate system based on the earth; 2, analyzing a quadrotor aircraft kinetic model according to the Newton-Euler equation; 3, calculating a tracking error, and designing a controller according to the fast terminal sliding mode surface and a first-order derivative thereof.The method combines the logarithmically enhanced power approach law control and the fast terminal sliding mode control, so the method can increase the approach speed during departing from the slidingmode surface, also can reduce the jitter, improves the quickness and robustness of the system, achieves the quick and stable control, also can achieve the finite time control of the tracking error, and solves a problem that only when time approaches to infinity in the conventional sliding mode surface, can the tracking error approach to zero. Meanwhile, the method achieves the adaptive estimationof the boundary of interference, and improves the stability of the system.
Owner:ZHEJIANG UNIV OF TECH
Self-adaptive control method for four-rotor aircraft based on arc tangent-enhanced double-power reaching law and rapid terminal sliding mode surface
ActiveCN108549241AIncrease approach speedLimited Time Control DecreaseAdaptive controlTransfer matrixComputer terminal
The invention relates to a self-adaptive control method for a four-rotor aircraft based on an arc tangent-enhanced double-power reaching law and a rapid terminal sliding mode surface. The method comprises the following steps: (1) determining a transfer matrix from a body coordinate system based on the four-rotor aircraft to an inertial coordinate system based on the earth; (2) analyzing a kineticmodel of the four-rotor aircraft based on a Newton-Euler's formula; and (3) calculating a tracking error, and designing a controller according to the rapid terminal sliding mode surface and a first-order derivative of the rapid terminal sliding mode surface. According to the method, by combining arc tangent-enhanced double-power reaching law sliding mode control with rapid terminal sliding mode control, the reaching speed can be increased in a place far from the sliding mode surface, and the material vibration can be reduced, so that the rapidness and robustness of a system can be improved, and the rapid and stable control is realized; and meanwhile, the finite time of the tracking error can be controlled, so that the problem that the tracking error tends to be 0 only when the time tends to be infinite in a traditional sliding mode surface is solved; and meanwhile, an interfered boundary is estimated in a self-adapting manner, so that the stability of the system is improved.
Owner:ZHEJIANG UNIV OF TECH
Four-rotor aircraft self-adaptive control method based on exponential enhancement type power reaching law and fast terminal sliding mode surface
ActiveCN108563125AIncrease approach speedLimited Time Control DecreaseAdaptive controlDynamic modelsInertial coordinate system
The invention provides a four-rotor aircraft self-adaptive control method based on an exponential enhancement type power reaching law and a fast terminal sliding mode surface. The method includes thefollowing steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, a dynamics model ofthe four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding mode surface and a first-order derivative thereof. According to the method, the exponential enhancement type power reaching law, sliding mode control and fast terminal sliding mode control are combined so that the reachingspeed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity and robustness of a system are improved, and rapid and stable controlcan be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity ina traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.
Owner:ZHEJIANG UNIV OF TECH
Four-rotor aircraft finite time control method based on inverse-proportion function enhanced constant-speed reaching law and rapid terminal sliding mode surface
ActiveCN108762076AShorter arrival timeImprove robustnessAdaptive controlStabilization controlTransfer matrix
Owner:ZHEJIANG UNIV OF TECH
Four-rotor aircraft adaptive control method based on logarithmical enhancement type fast power approaching law and fast terminal sliding mode surface
ActiveCN108803319AIncrease approach speedLimited Time Control DecreaseAdaptive controlInertial coordinate systemAircraft dynamics
The invention relates to a four-rotor aircraft adaptive control method based on a logarithmical enhancement type fast power approaching law and a fast terminal sliding mode surface. The method includes the following steps that: step 1, a transfer matrix from a four-rotor aircraft-based aircraft body coordinate system to an earth-based inertia coordinate system is determined; step 2, a four-rotor aircraft dynamic model is analyzed according to Newton-Euler formula; and step 3, a tracking error is calculated, a controller is designed according to the fast terminal sliding mode surface and the first-order derivative thereof. According to the method of the invention, the logarithmical enhancement type fast power approaching law sliding mode control and fast terminal sliding mode control are used in combination, therefore, approaching speed can be increased when a system is far away from a sliding mode surface, buffeting can be decreased, the rapidity and robustness of the system can be improved, fast and stable control can be realized, finite time control of the tracking error can be realized, and a problem that a tracking error can be approximately 0 provided that the time tends to beinfinite in a traditional sliding mode surface can be solved; and the boundary of interference is estimated adaptively, so that the stability of the system is improved.
Owner:ZHEJIANG UNIV OF TECH
Finite-time control method for four-rotor aircraft based on hyperbolic sinusoidal enhanced constant speed approach law and fast terminal sliding mode surface
ActiveCN108845586AShorter arrival timeImprove robustnessAttitude controlPosition/course control in three dimensionsTransfer matrixInertial coordinate system
The invention relates to a finite-time control method for a four-rotor aircraft based on the hyperbolic sinusoidal enhanced constant speed approach law and a fast terminal sliding mode surface. The method comprises steps that S1, a transfer matrix from a body coordinate system based on the four-rotor aircraft to an Earth-based inertial coordinate system is determined; S2, a four-rotor aircraft dynamics model is analyzed according to the Newton Euler formula; and S3, a tracking error is calculated, and a controller is designed according to the fast terminal sliding mode surface and a first order derivative thereof. For the four-rotor aircraft system, in combination with hyperbolic sinusoidal enhanced constant speed approach law sliding mode control and fast terminal sliding mode control, not only can the approaching speed be increased during movement away from the sliding mode surface, but also chattering can be reduced, rapidness and robustness of the system are improved, fast and stable control is achieved, moreover, finite time control of the tracking error can be achieved, and a problem that the tracking error only tends to zero in a traditional sliding mode surface only when the time tends to infinity is solved.
Owner:ZHEJIANG UNIV OF TECH
Finite time control method for quadrotor aircraft based on logarithmically enhanced power approach law and fast terminal sliding mode surface
ActiveCN108829128AShorter arrival timeImprove robustnessPosition/course control in three dimensionsTerminal sliding modeTransfer matrix
The invention discloses a finite time control method for a quadrotor aircraft based on a logarithmically enhanced power approach law and a fast terminal sliding mode surface. The method comprises thefollowing steps: 1, determining a transfer matrix from a body coordinate system based on the quadrotor aircraft to an inertial coordinate system based on the earth; 2, analyzing a quadrotor aircraft kinetic model according to the Newton-Euler equation; 3, calculating a tracking error, and designing a controller according to the fast terminal sliding mode surface and a first-order derivative thereof. Aiming at a quadrotor aircraft system, the method combines the logarithmically enhanced power approach law control and the fast terminal sliding mode control, so the method can increase the approach speed during departing from the sliding mode surface, also can reduce the jitter, improves the quickness and robustness of the system, achieves the quick and stable control, also can achieve the finite time control of the tracking error, and solves a problem that only when time approaches to infinity in the conventional sliding mode surface, can the tracking error approach to zero.
Owner:ZHEJIANG UNIV OF TECH
Finite-time control method of quadrotor aircraft based on inverse proportional function enhanced constant velocity reaching law and fast terminal sliding surface
ActiveCN108762076BShorter arrival timeImprove robustnessAdaptive controlDynamic modelsFlight vehicle
A finite-time control method of a quadrotor aircraft based on an inverse proportional function enhanced constant velocity reaching law and a fast terminal sliding surface, comprising the following steps: Step 1, determining the inertial coordinates from the body coordinate system based on the quadrotor aircraft to the earth-based The transfer matrix of the system; step 2, analyze the dynamic model of the quadrotor aircraft according to Newton Euler formula; step 3, calculate the tracking error, and design the controller according to the fast terminal sliding mode surface and its first derivative. For the quadrotor aircraft system, combined with the enhanced constant velocity approaching law sliding mode control based on the inverse proportional function and the fast terminal sliding mode control, it can not only increase the approach speed when it is far away from the sliding mode surface, but also reduce chattering and improve The rapidity and robustness of the system realize fast and stable control, and at the same time, it can realize the finite time control of the tracking error, which solves the problem that the tracking error tends to zero only when the time tends to infinity in the traditional sliding mode surface.
Owner:ZHEJIANG UNIV OF TECH
Finite-time control method of quadrotor aircraft based on arctangent-enhanced constant-velocity reaching law and fast terminal sliding surface
ActiveCN108828936BShorter arrival timeImprove robustnessAdaptive controlDynamic modelsFlight vehicle
Owner:ZHEJIANG UNIV OF TECH
Adaptive control method of quadrotor aircraft based on inverse proportional function enhanced fast power reaching law and fast terminal sliding surface
ActiveCN108628168BShorter arrival timeImprove robustnessAdaptive controlDynamic modelsTransition matrices
Owner:ZHEJIANG UNIV OF TECH
Adaptive control method for quadrotor aircraft based on inverse proportional function enhanced power reaching law and fast terminal sliding surface
ActiveCN108829118BShorter arrival timeImprove robustnessAttitude controlPosition/course control in three dimensionsDynamic modelsFlight vehicle
Owner:ZHEJIANG UNIV OF TECH
Adaptive control method for quadrotor aircraft based on exponentially enhanced double-power reaching law and fast terminal sliding surface
ActiveCN108646773BShorter arrival timeImprove robustnessAttitude controlPosition/course control in three dimensionsDynamic modelsFlight vehicle
Owner:ZHEJIANG UNIV OF TECH
Four-rotor aircraft finite time control method based on exponential enhancement type constant speed approaching law and fast terminal sliding mode surface
ActiveCN108803320AShorter arrival timeImprove robustnessAdaptive controlTransfer matrixAircraft dynamics
The invention relates to a four-rotor aircraft finite time control method based on an exponential enhancement type constant speed approaching law and a fast terminal sliding mode surface. The method includes the following steps that: step 1, a transfer matrix from a four-rotor aircraft-based aircraft body coordinate system to an earth-based inertia coordinate system is determined; step 2, a four-rotor aircraft dynamic model is analyzed according to Newton-Euler formula; and step 3, a tracking error is calculated, a controller is designed according to the fast terminal sliding mode surface andthe first-order derivative thereof. According to the method of the invention, the exponential enhancement type constant speed approaching law sliding mode control and fast terminal sliding mode control are used in combination according to a four-rotor aircraft, therefore, approaching speed can be increased when a system is far away from a sliding mode surface, buffeting can be decreased, the rapidity and robustness of the system can be improved, fast and stable control can be realized, the finite time control of the tracking error can be realized, and a problem that a tracking error can be approximately 0 provided that the time tends to be infinite in a traditional sliding mode surface can be solved.
Owner:ZHEJIANG UNIV OF TECH
Four-rotor aircraft adaptive control method based on inverse proportional function enhanced fast power reaching law and fast terminal sliding mode surface
ActiveCN108628168AAvoid singularity problemsIncrease approach speedAdaptive controlTerminal sliding modeTransfer matrix
The invention discloses a four-rotor aircraft adaptive control method based on an inverse proportional function enhanced fast power reaching law and a fast terminal sliding mode surface, and the method comprises the following steps: 1, determining a transfer matrix from an aircraft body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth; 2, analyzing a four-rotor aircraft kinetic model according to a Newton-Euler equation; 3, calculating a tracking error, and designing a controller according to the fast terminal sliding mode surface and a first-order derivative thereof. The method can increase the reaching speed when the aircraft is far from the sliding mode surface through combining the inverse proportional function enhanced fast power reaching law sliding mode control and fast terminal sliding mode control, and also can reduce the vibration. The method improves the quickness of a system, achieves the fast and stable control, also canachieve the finite time control of a tracking error, and solves a problem that the tracking error of a conventional sliding mode surface approaches to zero only in infinite time. Meanwhile, the methodimproves the stability of the system through the adaptive estimation of the interference boundary.
Owner:ZHEJIANG UNIV OF TECH
Finite-time control method for quadrotor aircraft based on exponentially enhanced exponential reaching law and fast terminal sliding surface
ActiveCN108828937BShorter arrival timeImprove robustnessAdaptive controlDynamic modelsFlight vehicle
Owner:ZHEJIANG UNIV OF TECH
A finite-time adaptive control method for two-rotor aircraft based on compound fast terminal sliding mode
ActiveCN109782784BRealize limited time controlImprove stabilityAttitude controlFlight vehicleDynamic models
Owner:ZHEJIANG UNIV OF TECH
Adaptive control method for quadrotor aircraft based on arctangent-enhanced double-power reaching law and fast terminal sliding surface
ActiveCN108549241BShorter arrival timeImprove robustnessAdaptive controlDynamic modelsFlight vehicle
Owner:ZHEJIANG UNIV OF TECH
Four-rotor aircraft finite time control method based on logarithmic enhanced constant-speed reaching law and rapid terminal sliding mode surface
ActiveCN108762075AShorter arrival timeImprove robustnessAdaptive controlStabilization controlTransfer matrix
Provided is a four-rotor aircraft finite time control method based on a logarithmic enhanced constant-speed reaching law and a rapid terminal sliding mode surface. The method includes following steps:step 1, determining a transfer matrix from a body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on earth; step 2, analyzing a kinetic model of the four-rotoraircraft according to a Newton Euler's formula; and step 3, calculating a tracking error, and designing a controller according to the rapid terminal sliding mode surface and a first-order derivativethereof. For a four-rotor aircraft system, with the combination of the logarithmic enhanced constant-speed reaching law sliding mode control and the rapid terminal sliding mode control, the reaching speed can be increased when being far from the sliding mode surface, the buffeting can be reduced, the rapidity and the robustness of the system are improved, rapid and stable control can be realized,finite time control of the tracking error can be realized, and the problem that in the conventional sliding mode surface, only when the time reaches infinity, the tracking error can reach 0 is solved.
Owner:ZHEJIANG UNIV OF TECH
Finite-time control method for quadrotor aircraft based on hyperbolic tangent-enhanced constant-velocity reaching law and fast terminal sliding surface
ActiveCN108829127BShorter arrival timeImprove robustnessPosition/course control in three dimensionsDynamic modelsFlight vehicle
Owner:ZHEJIANG UNIV OF TECH
Adaptive control method for quadrotor aircraft based on exponentially enhanced fast power reaching law and fast terminal sliding surface
ActiveCN108563128BShorter arrival timeImprove robustnessAdaptive controlFlight vehicleStabilization control
Owner:ZHEJIANG UNIV OF TECH
Finite-time control method of quadrotor aircraft based on hyperbolic sine-enhanced constant-velocity reaching law and fast terminal sliding surface
ActiveCN108845586BShorter arrival timeImprove robustnessAttitude controlPosition/course control in three dimensionsDynamic modelsFlight vehicle
Owner:ZHEJIANG UNIV OF TECH
Four-rotor aircraft adaptive control method based on arctangent enhanced fast power approach law and fast terminal sliding mode surface
ActiveCN108776485AIncrease approach speedLimited Time Control DecreaseAttitude controlPosition/course control in three dimensionsStabilization controlTransfer matrix
The invention relates to a four-rotor aircraft adaptive control method based on the arctangent enhanced fast power approach law and the fast terminal sliding mode surface. The method comprises steps that S1, a transfer matrix from a body coordinate system based on a four-rotor aircraft to an Earth-based inertial coordinate system is determined; S2, a four-rotor aircraft dynamics model is analyzedaccording to the Newton Euler formula; and S3, a tracking error is calculated, and a controller is designed according to the fast terminal sliding mode surface and the first derivative thereof. The method is advantaged in that arctangent-based enhanced fast power approach law sliding mode control and fast terminal sliding mode control are combined, not only can the approach speed be enhanced in astate of being away from the sliding mode surface, but also chattering can be reduced, system speedability is improved, fast and stable control is realized, finite time control of the tracking error can be further realized, a problem that the tracking error only tends to zero in a traditional sliding mode surface only when the time tends to infinity is solved, through adaptively estimating the interference boundary, stability of the system is improved.
Owner:ZHEJIANG UNIV OF TECH
Adaptive control method for quadrotor aircraft based on hyperbolic tangent enhanced constant-speed approach law and fast terminal sliding mode surface
ActiveCN108829119AIncrease approach speedLimited Time Control DecreaseAttitude controlPosition/course control in three dimensionsInertial coordinate systemNewton–Euler equations
The invention discloses an adaptive control method for a quadrotor aircraft based on a hyperbolic tangent enhanced constant-speed approach law and a fast terminal sliding mode surface. The method comprises the following steps: 1, determining a transfer matrix from a body coordinate system based on the quadrotor aircraft to an inertial coordinate system based on the earth; 2, analyzing a quadrotoraircraft kinetic model according to the Newton-Euler equation; 3, calculating a tracking error, and designing a controller according to the fast terminal sliding mode surface and a first-order derivative thereof. The method combines the hyperbolic tangent enhanced constant-speed approach law control and the fast terminal sliding mode control, so the method can increase the approach speed during departing from the sliding mode surface, also can reduce the jitter, improves the quickness and robustness of the system, achieves the quick and stable control, also can achieve the finite time controlof the tracking error, and solves a problem that only when time approaches to infinity in the conventional sliding mode surface, can the tracking error approach to zero. Meanwhile, the method achievesthe adaptive estimation of the boundary of interference, and improves the stability of the system.
Owner:ZHEJIANG UNIV OF TECH
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