An anti-disturbance and parameter perturbation control method for asymptotically stable quadrotor UAV

Abstract

An anti-interference and parameter perturbation four-rotor UAV (unmanned aerial vehicle) asymptotically stable control method includes the steps: building a four-rotor UAV nonlinear mathematical model including external interference and internal parameter perturbation; setting a control target and constraint conditions needed by an asymptotically stable control algorithm; designing an external interference estimation algorithm; designing the asymptotically stable control algorithm. The control method has the advantages that interference compensation can be realized without specific information (such as interference cycle and amplitude) of the external interference, effective asymptotically stable control can be realized under the condition of coexistence of the external interference and internal parameter perturbation, both the external interference and internal parameter perturbation of a system can be rapidly time-varying (an abnormal value or slow time-varying type), the control method based on a nonlinear analysis model is attached with a strict theoretical proof (non-intelligent method or linear control methods such as fuzzy or neural network control), and the algorithm is small in scale, simple in operation and easy in engineering implementation.

Description

technical field [0001] The invention belongs to the field of control science and engineering, in particular to a four-rotor UAV asymptotically stable control method for anti-interference and parameter perturbation. Background technique [0002] In the past 20 years, quadrotor unmanned aerial vehicle (UAV) has been greatly developed due to its advantages of portability, maneuverability and wide application. However, there are many control problems in quadrotor UAV, such as: 1) weak anti-interference ability; 2) parameter perturbation inside the system model; 3) underactuation problem; 4) open-loop instability. [0003] In order to solve these problems, researchers have adopted a variety of modeling and control design methods to solve the above problems. For example, in 2010, R. Zhang et al. studied the problem of attitude control of quadrotor aircraft accompanied by a type of time-varying disturbance. They used an observer to estimate the external disturbance and designed a...

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Problems solved by technology

[0004] A comprehensive analysis of the above-mentioned existing research results shows that there are the following unresolved problems: First, the existing anti-jamming control methods need specific information about external disturbances, such as the period and amplitude of disturbances, and this limited condition cannot be solved when the project is realized. It cannot be satisfied at all; second, the existing anti-interference or anti-parameter perturbation control methods generally require the disturbance or parameter perturbation to be constant or slowly time-varying. This constraint is too harsh and does not meet the actual situation. ; Third, the existing anti-interference or anti-parameter perturbation control methods have a large calculation scale and complex algorithms, which are difficult to implement in engineering

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