Terminal cooperative control method of four-rotor unmanned aerial vehicle

Abstract

The invention relates to a terminal cooperative control method of a four-rotor unmanned aerial vehicle. The method includes the following steps that: the dynamic model of the four-rotor unmanned aerial vehicle is established based on Newton-Euler formula; the coupling relation of the position and attitude of the four-rotor unmanned aerial vehicle is decoupled, so that respective control can be carried out; a position terminal manifold and an attitude terminal manifold are constructed in a system state space, so that system error convergence speed can be accelerated; a position terminal cooperative controller and an attitude terminal cooperative controller are designed according to the dynamic characteristics of the corresponding manifolds, so that a control input buffeting phenomenon can be eliminated; and the two controllers are connected in series through a decoupling result, and an inner loop and an outer loop can be constructed so as to realize the flight control of the four-rotor unmanned aerial vehicle. The terminal cooperative control method of the four-rotor unmanned aerial vehicle provided by the invention can eliminate the control input buffeting phenomenon, improve the system response speed and realize the buffeting-free quick control of the four-rotor unmanned aerial vehicle.

Description

technical field [0001] The invention relates to a terminal cooperative control method of a four-rotor UAV, which is suitable for chatter-free fast flight control of the four-rotor UAV. Background technique [0002] As a kind of rotorcraft, quadrotor UAV has simple structure, low cost, strong operability and maneuverability. The flight control realized by controlling the speed of four rotors can conveniently complete actions such as take-off and landing. It has great advantages in ground reconnaissance, surveillance and other tasks. Therefore, quadrotor UAVs with unique flight control methods have broad application prospects and become one of the research hotspots at home and abroad. However, quadrotor UAV is a kind of nonlinear system with the characteristics of underactuation, strong coupling and static instability. For such complex systems, it is difficult to achieve fast and stable control. Therefore, realizing effective flight control for quadrotor UAVs has become an ...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problems of control input chattering and slow response speed in the existing four-rotor UAV flight control methods, the present invention provides a terminal cooperative control method for four-rotor UAVs to ensure that the system is stable and reliable, and at the same time Accelerate the system response speed, eliminate the control input chattering phenomenon, and realize the chatter-free fast control of the quadrotor UAV

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