Optimal input-saturation-resistant control method based on sliding-mode control for quadrotor aircraft

Abstract

The invention discloses an optimal input-saturation-resistant control method based on sliding-mode control for a quadrotor aircraft. A sliding-mode control method is provided by combining the optimal control since actuator saturation exists in the quadrotor aircraft. On the premise of ensuring that a referred performance index function J achieves an optimum value, system sliding-mode surface parameters and switching time are obtained through calculation, a corresponding sliding-mode surface and sliding-mode control law are designed through comparing the switching time, thereby the optimal controller is formed. The optimal input-saturation-resistant control method simplifies the design steps of the controller by solving an inequation, allows the referred control law to be the optimal control under the condition of actuator input saturation according to the performance index function J, effectively increases control precision and response speed of the quadrotor aircraft, and can provide controller design basis for the quadrotor aircraft with actuator input saturation. The optimal input-saturation-resistant control method is used for input-saturation-resistant control of the quadrotor aircraft with parameter uncertainties and external disturbance.

Description

technical field [0001] The invention relates to an optimal anti-input saturation control method of a quadrotor aircraft based on sliding mode control, and belongs to the technical field of aircraft control. Background technique [0002] A quadrotor is a motor-driven aircraft that can take off and land vertically. Compared with conventional rotorcraft, its structure is more compact, it can generate greater lift, and because its four rotors can cancel each other's counter-torque torque, it does not need a special counter-torque propeller. As a kind of unmanned aerial vehicle, due to its unique advantages, quadrotor aircraft has broad prospects in the fields of civil and military use. Then, the quadrotor aircraft has the characteristics of nonlinearity, strong coupling, and sensitivity to external disturbances. Therefore, a more robust control method is needed to ensure its flight safety and flight quality. Due to the uncertainty of the quadrotor aircraft itself and the chan...

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Problems solved by technology

However, most of these methods do not consider the uncertainty and nonlinearity of system parameters. For quadrotor aircraft with

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