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Posture nonlinear self-adaptive control method for small unmanned helicopter

An unmanned helicopter, adaptive control technology, applied in the direction of attitude control, etc., can solve the problems that the independence of the estimator cannot be guaranteed, and the convergence rate of the parameter estimation error cannot be adjusted.

Active Publication Date: 2015-09-23
TIANJIN UNIV
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Problems solved by technology

The diversity of self-tuning adaptive methods depends on the choice of estimators and control laws. A Lyapunov function is used to ensure the overall stability of estimators and controllers. The independence of estimators cannot be guaranteed, and parameter estimates cannot be adjusted. Convergence rate of errors (Journal: International Journal of Control Automation and Systems; Authors Lee D, Jin Kim H, Sastry S; Year of publication: 2009; Article title: Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter; Page 419 -428)

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  • Posture nonlinear self-adaptive control method for small unmanned helicopter
  • Posture nonlinear self-adaptive control method for small unmanned helicopter
  • Posture nonlinear self-adaptive control method for small unmanned helicopter

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Embodiment Construction

[0057] The technical scheme adopted in the present invention is: in the situation that the small unmanned helicopter has parameter uncertainty, the immersion-invariant set method is used in the attitude system control of the small unmanned helicopter, comprising the following steps:

[0058] 1) Determine the coordinate system definition of the small unmanned helicopter;

[0059] The definition of the small unmanned helicopter coordinate system mainly involves three coordinate systems, the inertial coordinate system {I}={O I ,x I ,y I ,z I}, current body coordinates {B}={O B ,x B ,y B ,z B} and target body coordinate system where O i (i=I,B,B d ) represents the origin of the coordinate system, x i ,y i ,z i (i=I,B,B d ) respectively correspond to the unit vectors in the directions of the three principal axes of the coordinate system, and the definition of each coordinate system follows the right-hand rule. The rotation matrix from the current body coordinate syst...

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Abstract

The invention relates to a small unmanned helicopter nonlinear control method. A small unmanned helicopter self-adaptive control method based on an immersion and invariant set method is provided, and realizes the effect that a small unmanned helicopter can maintain a control effect with stable posture under the situation of parameter uncertainty. Thus, the technical scheme adopted by the invention provides a posture nonlinear self-adaptive control method for the small unmanned helicopter, which applies the immersion and invariant set method to the control of a small unmanned helicopter posture system while the small unmanned helicopter is under the situation of parameter uncertainty. The posture nonlinear self-adaptive control method is mainly applied to small unmanned helicopter nonlinear control.

Description

technical field [0001] The invention relates to a nonlinear control method for a small unmanned helicopter, in particular to an adaptive control method for a small unmanned helicopter based on an immersion-invariant set method. Background technique [0002] As a kind of rotor UAV, small unmanned helicopter has the advantages of vertical take-off and landing, good maneuverability, fixed-point hovering, and low-altitude flight. It is mainly used in military and civilian fields such as military reconnaissance, search and rescue, meteorological observation, pesticide spraying, and architectural surveying and mapping. The unmanned helicopter system has the characteristics of static instability, nonlinearity, strong coupling, and strong uncertainty. The design of its controller has always been a hot and difficult point of research at home and abroad. [0003] The linear control method is the commonly used UAV control method at present. Pounds P E I and others use the linear model...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 鲜斌姜鑫燃
Owner TIANJIN UNIV
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