Attitude nonlinear robust control method for single-rotor unmanned helicopter based on fuzzy feedforward

A robust control technology for unmanned helicopters, applied in attitude control and other directions, can solve problems such as dwelling, strong model dependence, unknown control accuracy and robustness, etc.

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A robust control technology for unmanned helicopters, applied in attitude control and other directions, can solve problems such as dwelling, strong model dependence, unknown control accuracy and robustness, etc.

CN103760905BActive Publication Date: 2016-06-01TIANJIN UNIV

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[0090] The invention belongs to the research field of autonomous flight control of micro-rotor unmanned aerial vehicles, and is mainly aimed at the control algorithm design of a single-rotor unmanned aerial vehicle, including the introduction of the attitude dynamics model of the unmanned helicopter, the non-linear semi-continuous robustness based on fuzzy feedforward Controller design and attitude flight control experiments.

[0091]Aiming at the attitude control problem of single-rotor unmanned helicopters, the present invention designs a nonlinear semi-continuous robust control algorithm based on fuzzy feed-forward compensation, and performs a stability analysis based on the Lyapunov method, proving that the designed controller can realize infinite Semi-global progressive tracking control of human-helicopter attitude. The flight test results of attitude control show that the invention can realize fast and accurate stabilization control of the unmanned helicopter, and the co...

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Abstract

The invention belongs to the field of miniature rotor type unmanned aerial vehicle autonomous flight control and research, and provides a method for controlling an unmanned aerial vehicle and for making an unmanned helicopter quickly and accurately stabilized and controlled. A controller less depends on prior knowledge of models and has good robustness on uncertainty of a system. According to the technical scheme, a nonlinear robust control method of the posture of the single-rotor unmanned helicopter based on fuzzy feedforward includes the following steps that firstly, the form of a single-rotor unmanned helicopter dynamical model and the form of a single-rotor unmanned helicopter posture dynamical model are as follows; secondly, the nonlinear semicontinuous robust controller based on fuzzy feedforward is designed (img file=' DDA0000463767750000011.TIF' wi=' 754' he=' 72' / ) ( / maths). The method is mainly applied to the design and manufacture of the miniature rotor type unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the research field of autonomous flight control of micro-rotor unmanned aerial vehicles, and is mainly aimed at the control algorithm design of a single-rotor unmanned aerial vehicle, including the introduction of the attitude dynamic model of unmanned helicopters, the semi-continuous robustness based on fuzzy feed-forward nonlinear Controller design and attitude flight control experiments, specifically, involve fuzzy feed-forward based single-rotor unmanned helicopter attitude nonlinear robust control method. Background technique [0002] Single-rotor unmanned helicopter is a type of rotorcraft, generally equipped with autonomous flight controllers, sensors and wireless communication systems, etc., capable of autonomous flight and autonomous execution of multiple tasks. The single-rotor unmanned aerial vehicle can realize vertical take-off and landing, and can realize hovering, forward flight, backward flight, side flight and ...

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Application Information

Patent Timeline

01 Jun 2016

Publication

CN103760905B

IPC: G05D1/08

Inventors: 鲜斌; 王福