Nonlinear robust controller design method based on back-stepping and sliding mode control technologies and aimed at nonlinear model of quad-rotor unmanned plane

A technology of quadrotor UAV and non-linear model, which is applied in non-electric variable control, vehicle position/route/height control, attitude control, etc. It can solve the problems of poor anti-interference ability, realizability and large-scale promotion. Long time, non-linear, etc. issues

Inactive Publication Date: 2016-06-15
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

Although there are so many application advantages, some characteristics of the quadrotor UAV itself, such as nonlinearity, strong coupling and under-actuation, make it difficult to effectively guarantee the high quality of flight and maneuverability.
Some of the current commonly used control methods are mainly aimed at the linear model at each equilibrium point after lineariza...

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  • Nonlinear robust controller design method based on back-stepping and sliding mode control technologies and aimed at nonlinear model of quad-rotor unmanned plane
  • Nonlinear robust controller design method based on back-stepping and sliding mode control technologies and aimed at nonlinear model of quad-rotor unmanned plane
  • Nonlinear robust controller design method based on back-stepping and sliding mode control technologies and aimed at nonlinear model of quad-rotor unmanned plane

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Embodiment

[0087] A design method of nonlinear robust controller based on backstepping and sliding mode control technology for the nonlinear model of quadrotor UAV, such as figure 1 As shown, firstly, the sliding mode controller is designed for the attitude angle subsystem of the quadrotor UAV system. Through the selection of the reaching law, the fast tracking of the attitude angle to the desired attitude angle trajectory is ensured. On this basis, starting from the performance index of the outer loop of the system, the nonlinear backstepping control method is used to track the position and trajectory of the quadrotor UAV system, and the actual input control law that meets the performance requirements is designed.

[0088] Such as figure 1 As shown, it specifically includes the following steps:

[0089] Step 1, obtain the actual position trajectory, position reference trajectory and yaw angle reference trajectory of the quadrotor UAV; in order to ensure that the actual position traject...

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Abstract

The invention discloses a nonlinear robust controller design method based on back-stepping and sliding mode control technologies and aimed at a nonlinear model of a quad-rotor unmanned plane. A sliding mode controller of a speed-constant reaching law is designed to an attitude angle system of the quad-rotor unmanned plane, and rapid tracking for the attitude angle is ensured. To realize track tracking for the spatial position of the quad-rotor unmanned plane, a sliding mode surface and a virtual control quantity are constructed according to a stepping back control idea to realize nonlinear control law design and system stability design from the kernel to the external layer of a system. After an equation of the related virtual control quantity is obtained, an expected track value of the attitude angle is obtained by solving the equation via arithmetic inverse operation, and a design method of the speed-constant reaching law is used to determine a final input control law of the quad-rotor unmanned plane system. According to the method of the invention, the characteristic that sliding mode control is uncertain for the model and insensitive to external interference is utilized, robust trace tracking for the nonlinear quad-rotor unmanned plane can be controlled under interference.

Description

technical field [0001] The invention relates to a control method for tracking the position and trajectory of a quadrotor UAV based on sliding mode control and nonlinear backstepping control, and belongs to the technical field of UAV control. Background technique [0002] As a new member of the UAV family, the quadrotor UAV has attracted the attention of many scholars and researchers due to its important and extensive use in the field of practical applications, and has aroused their great interest. Quadrotor drones are playing an increasingly important role in military reconnaissance, natural disaster monitoring, agricultural imaging, and rescue missions. The main advantages of this UAV are vertical take-off and landing, suspension at a fixed height, and flight in any direction. Although there are so many application advantages, some characteristics of the quadrotor UAV itself, such as nonlinearity, strong coupling and under-actuation, make it difficult to effectively guaran...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/08G05D1/10
CPCG05B13/042G05D1/0808G05D1/101
Inventor 陆俊杰陈复扬程子安胡龙泽张康康姜斌蒋荣强雷稳
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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