Four-rotor unmanned aerial vehicle feedback linearization control method based on fuzzy extended state observer

A quadrotor unmanned aerial vehicle and feedback linearization technology, which is applied in the field of feedback linearization control of quadrotor unmanned aerial vehicle based on fuzzy expanded state observer, can solve the problem that some states and disturbances are unmeasurable, and the parameters of expanded state observer are difficult to set. And other issues

Active Publication Date: 2017-02-15
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the problems of unmeasurable part of the state and disturbance of the existing system, and the difficulty in setting the parameters of the extended state observer, the present invention proposes a four-rotor UAV feedback linearization control method based on the fuzzy extended state observer, and designs the extended state observation The Extended

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  • Four-rotor unmanned aerial vehicle feedback linearization control method based on fuzzy extended state observer
  • Four-rotor unmanned aerial vehicle feedback linearization control method based on fuzzy extended state observer
  • Four-rotor unmanned aerial vehicle feedback linearization control method based on fuzzy extended state observer

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[0082] The present invention will be further described below with reference to the accompanying drawings.

[0083] Refer to Figure 1- Figure 7 , a feedback linearization control method for a quadrotor UAV based on a fuzzy expanded state observer, comprising the following steps:

[0084] Step 1: establish the system motion equation shown in formula (1);

[0085]

[0086] Among them, x, y, z are the coordinates of the UAV relative to the origin in the ground coordinate system φ, θ, ψ represent the pitch angle, roll angle, and yaw angle of the UAV, respectively. U 1 Represents the resultant external force acting on the quadrotor UAV. p is the pitch angular velocity of the UAV, is the pitch angular acceleration, q is the roll angular velocity of the UAV, is the roll angular acceleration, r is the yaw angular velocity of the UAV, is the yaw angle angular acceleration, m is the mass of the drone, I x , I y , I z are the inertia tensors on the x, y, and z axes, respect...

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Abstract

The invention provides a four-rotor unmanned aerial vehicle feedback linearization control method based on a fuzzy extended state observer. The method comprises the following steps: establishing a four-rotor unmanned aerial vehicle system model, and initializing the system state and controller parameters; designing a tracking differentiator; designing a non-linear extended state observer; establishing a fuzzy rule; and designing a feedback linearization controller. The designed extended state observer is used for estimating system model uncertainty and external disturbance; through a pole assignment method, an initial value of the parameters of the extended state observer can be determined; through introduction of the fuzzy rule, the parameters of the extended state observer are subjected to on-line setting; and through feedback linearization, a closed-loop system is approximate to a linear system, thereby improving system stability, ensuring system tracking error can be quickly stabilized and converges to zero, and realizing quick and stable position tracking and posture adjustment of a four-rotor unmanned aerial vehicle. The method solves the problem of system model uncertainty and external disturbance, improves system performance and realizes quick and stable position tracking and posture adjustment of the system.

Description

technical field [0001] The invention relates to a four-rotor unmanned aerial vehicle feedback linearization control method based on a fuzzy extended state observer. Aiming at the four-rotor unmanned aerial vehicle system that has coupled nonlinear items and is susceptible to external interference, it can achieve position tracking and tracking with good precision. gesture control. Background technique [0002] In recent years, the rotor UAV has become one of the research hotspots of frontier scholars at home and abroad. As a typical rotor UAV, the quadrotor UAV is characterized by its small size, good maneuverability, simple design, and no risk of casualties. With the advantages of low manufacturing cost, it is widely used in civil and military fields such as aircraft model industry, aerial photography, power security, marine monitoring, meteorological detection, urban fire protection, agricultural and forestry operations, forest fire prevention, anti-drug and emergency rescu...

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 陈强龚相华卢敏王音强庄华亮孙明轩何熊熊
Owner ZHEJIANG UNIV OF TECH
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