Small unmanned helicopter adaptive attitude control method of dynamic-model-free structure

Abstract

The invention belongs to the field of small single-rotor unmanned helicopter flight control research, and designs a novel model-free adaptive sliding mode controller to avoid severe reliability to a system model and the robustness analysis problem under unmodeled dynamics during design of a controller. The designed controller has the stability characteristics such as quasi-sliding modes and bounded inputs, and can control the attitude of an unmanned helicopter with only input and output data of a system. According to the technical scheme, a model-free structure adaptive sliding mode control method for controlling the attitude of a small unmanned helicopter conducts multi-input multi-output system analysis on pitch and roll channels and single-input single-output system analysis on a yaw channel. The method comprises the following steps: 1, multi-input multi-output system analysis on the pitch and roll channels; 2, single-input single-output system analysis on the yaw channel; and 3, controller design and stability analysis. The method is mainly applied to small single-rotor unmanned helicopter flight control research occasions.

Description

technical field

[0001] The invention belongs to the field of flight control research of small single-rotor unmanned helicopters. Specifically, it relates to a model-free structure adaptive sliding mode control method for the attitude of an unmanned helicopter. Background technique

[0002] Small unmanned helicopters are special aircraft that do not need to be piloted and can complete autonomous flight tasks. This type of aircraft has many characteristics such as vertical take-off and landing, low-altitude flight, etc., and has been widely used in various fields. At the same time, due to the characteristics of strong coupling, complex dynamic characteristics, and nonlinearity of unmanned helicopters, it is difficult to analyze the dynamics and control design of unmanned helicopters.

[0003] In recent years, the flight control of unmanned helicopters has attracted extensive attention from scholars at home and abroad. Linear control such as: LQR (Linear Quadratic Regulator:...

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