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Attitude Error Fast Convergence Adaptive Control Method for Small Unmanned Helicopter

An unmanned helicopter and attitude control technology, applied in the direction of adaptive control, attitude control, general control system, etc., can solve the problems of loss of control ability, waste of control energy, system instability, etc.

Inactive Publication Date: 2018-05-01
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although the performance of the traditional sliding mode control is excellent, there are still some defects. First, the design of the sliding mode surface adopts the linear combination form of the system state, so that the system state finally reaches asymptotic convergence, which is not suitable for some control systems with high control accuracy. Occasion required
Second, due to the existence of discontinuous switching items, it will cause the chattering phenomenon of the control input
If the control gain is selected too small, the control ability will be lost and the system will be unstable; if the control gain is selected too large, it will cause large chattering, waste control energy and affect the control accuracy

Method used

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  • Attitude Error Fast Convergence Adaptive Control Method for Small Unmanned Helicopter
  • Attitude Error Fast Convergence Adaptive Control Method for Small Unmanned Helicopter
  • Attitude Error Fast Convergence Adaptive Control Method for Small Unmanned Helicopter

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Embodiment Construction

[0079] The technical scheme adopted by the present invention is that the second-order adaptive terminal sliding mode attitude control method of the small unmanned helicopter, in the case of external interference of the small unmanned helicopter, the second-order adaptive terminal sliding mode method is used for the small unmanned helicopter The attitude system control of the man-machine includes the following steps:

[0080] 1) Determine the attitude dynamics model of the small unmanned helicopter;

[0081] The attitude dynamics model of a small unmanned helicopter is a nonlinear system with multiple inputs and multiple outputs. Usually, for the convenience of control, the helicopter can be regarded as a rigid body. Using the Lagrangian equation to describe its attitude dynamics model is as follows:

[0082]

[0083] In the formula represents the pose vector, where is roll angle, θ is pitch angle, ψ is yaw angle, M(η)∈R 3×3 the invertible inertia matrix, is the mat...

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Abstract

The invention relates to a non-linear control method for a small unmanned helicopter. It provides a method for controlling the attitude of a small unmanned helicopter based on a second-order self-adaptive terminal sliding mode controller. , can still achieve rapid convergence of attitude error, maintain more accurate attitude tracking control effect and strong system robust performance. For this reason, the technical solution adopted by the present invention is, the second-order adaptive terminal sliding mode attitude control method of the small unmanned helicopter, in the case of external interference of the small unmanned helicopter, the second-order adaptive terminal sliding mode method is used for small In the attitude system control without a helicopter, the following steps are specifically included: 1) Determine the attitude dynamic model of the small unmanned helicopter; 2) Define the attitude angle tracking error and sort out the dynamic error model; 3) Control law design; 4) Adaptive control gain design. The invention is mainly applied to the nonlinear control of the helicopter.

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 a second-order adaptive terminal sliding mode. Specifically, it involves a fast convergence adaptive control method for attitude errors of small unmanned helicopters. 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....

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/08
Inventor 鲜斌黄健
Owner TIANJIN UNIV
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