Posture nonlinear self-adaptive control method of quad-rotor unmanned helicopter

Abstract

The invention relates to a flight control method of an unmanned helicopter and provides a posture nonlinear self-adaptive control method of a quad-rotor unmanned helicopter. Progressive tracking control over the flight posture of the helicopter can be effectively achieved under the condition that system parameters like the moment of inertia of the helicopter, the air damping coefficient and mass center offset are unknown. According to the adopted technical scheme, the method comprises the steps that a small quad-rotor unmanned helicopter control design model serves as a controlled object, online estimation is carried out on unknown system parameters through an immersion-invariant set theory, a controller is constructed by utilization of an estimated value, and progressive tracking control over the flight posture of the quad-rotor unmanned helicopter is achieved. The posture nonlinear self-adaptive control method of the quad-rotor unmanned helicopter is mainly applied to flight control of the unmanned helicopter.

Description

technical field [0001] The present invention relates to a flight control method of an unmanned aerial vehicle, in particular to an attitude nonlinear adaptive control method of a quadrotor unmanned aerial vehicle technical background [0002] A quadrotor UAV is a multi-rotor UAV that can take off and land vertically. It adopts a cross structure, and the four motors at the end of the frame drive the rotor to rotate to generate lift, and rely on the adjustment of the speed of the four motors to control the motion state of the aircraft. Compared with other UAVs, the advantages of quadrotor UAVs are that the mechanical and electronic structures are simpler and more compact, the actions are more dexterous and changeable, and the maneuverability is strong while still having good control performance, and it can take off in a small area. , Hovering, Flying and Landing (Journal: IEEE Transactions on Control Systems Technology; Author: LeeTaeyoung; Published: 2013; Title: Robust Adap...

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Problems solved by technology

[0004] However, as a rotorcraft, the quadrotor UAV has the characteristics of static instability, underactuation, strong coupling and nonlinearity, which puts forward higher requirements on the performance of the flight controller, especially in most cases, the power of the aircraft Physical parameters such as moment of inertia, air damping coefficient and offset of center of gravity are not easy to measure, which increases the difficulty of controller design (Journal: IEEE Transactions on Control Systems Technology; Authors: DydekZachary T., AnnaswamyAnuradha M. and LavretskyEugene; Published Date: 2013; Title: Adaptive Control of Quadrotor UAVs: A Design Trade Study With Flight Evaluations; Pages: 1400-1406)

[0005] Faced with the problem of unknown model parameters of quadrotor UAVs, most universities and research institutions adopt the traditional model reference adaptive method. This method has a simple structure, but requires the model structure and unknown parameters to meet the linear parameterization conditions, and is easy to Introducing the controller "singularity" problem (Book: Nonlinear System Theory; Author: Fang Yongchun and Lu Guizhang; Time: 2009; Publisher: Tsinghua University Press; Page: 65-79)

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