Quadrotor unmanned plane control method based on fuzzy expansion state observer and adaptive sliding formwork

An expansion state observation, quadrotor UAV technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the problem that the gain of the sliding mode controller is difficult to obtain accurately, the state and disturbance are unmeasurable, and the expansion state Observer parameters are difficult to tune and other problems

Active Publication Date: 2017-02-22
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0007] In order to overcome the problems of unmeasurable part of the state and disturbance of the existing system, the difficulty of setting the parameters of the extended state observer, and the difficulty of obtaining the gain of the sliding mode controller accurately, the present invention proposes a four-dimensional control system based on the fuzzy extended state observer and adaptive sliding mode. For the control method of rotor UAV, an extended state observer (Extended State Observer, ES

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  • Quadrotor unmanned plane control method based on fuzzy expansion state observer and adaptive sliding formwork
  • Quadrotor unmanned plane control method based on fuzzy expansion state observer and adaptive sliding formwork
  • Quadrotor unmanned plane control method based on fuzzy expansion state observer and adaptive sliding formwork

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[0087] The present invention will be further described below in conjunction with the accompanying drawings.

[0088] Referring to Figure 1- Figure 9 , a quadrotor UAV control method based on fuzzy extended state observer and adaptive sliding mode, including the following steps:

[0089] Step 1: Establish the system motion equation shown in formula (1);

[0090]

[0091] Among them, x, y, and z are the coordinates of the UAV relative to the origin in the ground coordinate system. φ, θ, and ψ represent the pitch angle, roll angle, and yaw angle of the UAV, respectively. u 1 Indicates 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 angular acceleration, m is the mass of the UAV, I x , I y , I z Respectively, the inertia tensor on the z, y, and z axes,...

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Abstract

The invention relates to a quadrotor unmanned plane control method based on a fuzzy expansion state observer and an adaptive sliding formwork. The method comprises steps that a quadrotor unmanned plane system model is established, and a system state and controller parameters are initiated; a tracking differentiator is designed; a non-linear expansion state observer is designed; fuzzy rules are established; a parameter adaptive law is designed; an adaptive sliding formwork controller is designed. According to the method, the expansion state observer is designed to estimate indetermination of a system model and external disturbance; a pole assignment method is utilized to determine an initial value of an expansion state observer parameter; the fuzzy rules are introduced to realize online setting for the expansion state observer parameter; the parameter adaptive law is designed to acquire ideal controller gain; the adaptive sliding formwork controller is designed, rapid stabilization of a system tracking error and convergence to a zero point are guaranteed, and rapid and stable position tracking and pose adjustment of the quadrotor unmanned plane are realized. The method is advantaged in that system performance is improved, and rapid and stable system position tracking and pose adjustment are realized.

Description

technical field [0001] The invention relates to a control method of a quadrotor UAV based on a fuzzy extended state observer and an adaptive sliding mode, aiming at a quadrotor UAV system working in a strong interference environment and having coupled nonlinear terms, to achieve a good Position Tracking and Attitude 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 rescue, etc. The application prospect is extremely broad. Th...

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 陈强龚相华卢敏庄华亮孙明轩何熊熊
Owner ZHEJIANG UNIV OF TECH
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