A Neural Network Terminal Sliding Mode Track Control Method for Airship

A technology of terminal sliding mode and neural network, which is applied in three-dimensional position/course control, attitude control and other directions, and can solve problems such as uncertain models and uncertain airship models

Active Publication Date: 2016-07-06
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

On the basis of the non-singular terminal sliding mode track control method, the present invention aims at the uncertain problem of the airship model, and adopts the neural network to approximate the uncertain model of the airship

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  • A Neural Network Terminal Sliding Mode Track Control Method for Airship
  • A Neural Network Terminal Sliding Mode Track Control Method for Airship
  • A Neural Network Terminal Sliding Mode Track Control Method for Airship

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Embodiment Construction

[0113] In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0114] Step 1: Given command track

[0115] The given command track is:

[0116] n d =[x d ,y d ,z d ,θ d ,ψ d ,φ d ] T =[(1.5t)m,200sin(0.005t)m,10m,0rad,0.02rad,0rad] T , x d 、y d ,z d , θ d 、ψ d and φ d They are command x coordinate, command y coordinate, command z coordinate, command pitch angle, command yaw angle and command roll angle;

[0117] Step 2: Calculate the amount of error

[0118] Calculate the amount of error between the commanded track and the actual track:

[0119] e=η-η d =[x-x d ,y-y d ,z-z d ,θ-θ d ,ψ-ψ d ,φ-φ d ] T ,

[0120] where, η=[x,y,z...

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Abstract

Aiming at the problem of airship track control under the condition of model uncertainty, the present invention provides an airship neural network terminal sliding mode track control method. First, the error amount is calculated from the given command track and the actual track, and then by selecting the terminal sliding mode The modulus function is used to design the trajectory control law by using the terminal sliding mode control method, and the uncertain model of the airship is approximated by the neural network. The system controlled by this method can track the command track with high precision under the condition of model uncertainty, has wider adaptability and strong robustness, and provides an effective solution for the engineering realization of airship track control.

Description

technical field [0001] The invention relates to a flight control method in the aviation field, which provides a neural network terminal sliding mode control method for an airship, and belongs to the technical field of automatic control. Background technique [0002] The airship is a kind of floating aircraft that relies on the buoyant gas (such as helium, hydrogen, etc.) to provide static lift, and relies on the propulsion system and flight control system to realize the maneuvering flight. It is especially suitable as a load-carrying platform. It can be widely used in land surveying and mapping, disaster monitoring, regional early warning, reconnaissance and surveillance and other fields by carrying a variety of payloads and developing into a new type of electronic information equipment. It has important application value and broad application prospects. , has become a research hotspot in the aviation field. [0003] Track control refers to the control of the movement of th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
Inventor 杨跃能闫野周洋朱正龙黄煦刘二江
Owner NAT UNIV OF DEFENSE TECH
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