Vector-field-based small-sized unmanned plane wind-field anti-interference self-adaptive control method

Abstract

The invention relates to a vector-field-based small-sized unmanned plane wind-field anti-interference self-adaptive control method, which relates to track design, establishment of track control vector field and design of slip-form variable structural controller of small-sized unmanned plane scientific research task. The motion of a small-sized unmanned plane is simplified to plane control and trans-lateral control through the plan of the scientific research task, the plane track plan is realized on the basis of a transitional connection point principle, and an expected complicated track is decomposed into a series of expected tracks consisting of circle arc sections with different circle centers and radiuses and straight sections; then a track control vector field of each expected track section is respectively established for the decomposed straight sectional expected track and the decomposed circle arc sectional expected track on the basis of the position error between the current position of the small-sized unmanned plane and the expected track; and the high-precision track control of the small-sized unmanned plane under the wind interference environment can be realized through the slip-form variable structure self-adaptive control method. The method has the advantages of good real-time performance, fast dynamic parameters, strong adaptability to the wind field interference and the like, and can be used for the high-precision control of the small-sized unmanned plane in a complicated environment.

Description

technical field [0001] The invention relates to a vector-domain-based anti-disturbance adaptive control method for a small unmanned aerial vehicle, which is suitable for working in the field of autonomous control of aerial unmanned aerial vehicles. Background technique [0002] Small UAVs can perform tasks such as observation and information collection in dangerous areas through various sensors carried by themselves. hotspots. [0003] The working environment of small drones is harsh, and they are easily affected by the wind field (constant wind, shear wind, random wind) during mission execution, thus affecting the flight effect. Therefore, the high-precision trajectory control of small UAVs under wind field disturbance is one of the key technologies of the small UAV flight control system. [0004] At present, intelligent PID control, robust control, neural network nonlinear adaptive control and other methods are mainly used for high-precision control of small UAVs under w...

AI Technical Summary

Problems solved by technology

[0005] The technical problem of the present invention is: aiming at the shortcomings of the existing control methods for small UAVs, a vector domain-based small UAV wind field anti-disturbance adaptive control method is proposed, which solves the problem of small UAVs in the wind disturbance environment. high precision control problem

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