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A sliding mode control method for quadrotor aircraft based on global stability

A technology for a quadrotor aircraft and a control method, which is applied in the field of flight control and can solve problems such as complex coupling relationships between aircraft subsystems

Inactive Publication Date: 2018-01-12
SHANDONG LABOR VOCATIONAL & TECHN COLLEGE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In most of the existing methods, the stability of the system is based on subsystem analysis. Due to the complexity of the coupling relationship between aircraft subsystems, there are few methods for considering the global stability of the system during the controller design process.

Method used

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  • A sliding mode control method for quadrotor aircraft based on global stability
  • A sliding mode control method for quadrotor aircraft based on global stability
  • A sliding mode control method for quadrotor aircraft based on global stability

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Embodiment Construction

[0110] Aiming at the problems in the prior art, the present invention provides a sliding mode control method for a quadrotor aircraft based on global stability.

[0111] The design goal is the tracking control of the trajectory and angle of the quadrotor aircraft. In the specific implementation, the simulation and verification of the trajectory tracking control of the quadrotor aircraft based on global stability and the closed-loop control system are realized with the help of the Simulink toolbox in Matlab R2012b. Here, by introducing a certain representative implementation manner, the related design and the adjustment method of the design parameters in the technical solution of the present invention are further described. Figure 7 A schematic diagram of a quadrotor aircraft.

[0112] See image 3 , a sliding mode control method for a quadrotor aircraft based on global stability in the present invention, the schematic diagram of the closed-loop control system of the quadroto...

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Abstract

The invention discloses a sliding mode control method for a quadrotor aircraft based on global stability. The control method has five major steps: step 1: analysis of the quadrotor aircraft system model; step 2: simplification and decomposition of the quadrotor aircraft system model; step 3 : Quadrotor controller design; Step 4: Trajectory tracking analysis and parameter adjustment; Step 5: Design end. The beneficial effects of the present invention are: the present invention provides a trajectory tracking sliding mode control method based on global stability for the quadrotor aircraft system, which is used for the trajectory tracking control of the quadrotor aircraft; compared with the existing control technology, the method Not only the global stability of the closed-loop system is guaranteed, but also the controller design process is very simple, and at the same time, the aircraft can quickly and accurately track the predetermined trajectory.

Description

technical field [0001] The invention belongs to the technical field of flight control, and the specific design relates to a sliding mode control method of a quadrotor aircraft based on global stability, which is a trajectory tracking sliding mode based on global stability for an underactuated quadrotor aircraft model. A control method for trajectory tracking control of a quadrotor aircraft. Background technique [0002] Quadrotor aircraft is an underactuated system with 6 degrees of freedom and 4 control inputs, which has the characteristics of nonlinearity, high order and strong coupling. Due to the importance of quadrotor aircraft in modern life and war, its control issues have attracted the attention of scholars at home and abroad. [0003] In recent years, many advanced control methods have been used in the trajectory tracking control of quadrotor aircraft, such as decomposing the aircraft model into multiple cascaded subsystems, applying methods such as inversion metho...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
Inventor 侯明冬王兆晶刘金琨田杰
Owner SHANDONG LABOR VOCATIONAL & TECHN COLLEGE
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