Complex attitude adaptive control method after multi-rotor aircraft captures target

Abstract

The invention discloses a complex attitude adaptive control method after a multi-rotor aircraft captures a target. After the multi-rotor aircraft captures an unknown target, the attitude change of the aircraft and the main connection rod attitude control of an airborne manipulator are used for completing the whole attitude adaptive control. Firstly, Lagrangian dynamics modeling is used for completing dynamics equation modeling on the whole complex after the target is captured; then, according to the special features of the Lagrangian dynamics, an attitude adaptive control algorithm is brought forward and proved; and finally, on the basis of parameter identification on the dynamics of the captured target, the whole complex attitude adaptive control after capturing is completed.

Description

technical field

[0001] The invention relates to the technical field of multi-rotor aircraft control, in particular to a complex attitude adaptive control method after the multi-rotor aircraft captures a target. Background technique

[0002] Unlike traditional single-rotor helicopters, the unique symmetrical layout of multi-rotor aircraft does not need to change the pitch to provide the main lift and torque required in flight, so that it can quickly switch between position movement and hovering at any time; except In addition, its small-sized propeller design greatly improves the stealth of flight and the safety of flight in unknown environment. Therefore, in recent years, multi-rotor aircraft has attracted extensive attention from domestic and foreign scholars and scientific research institutions due to its unique flight stability, simple structure, easy control and high safety performance, and has quickly become one of the current international research hotspots. . [000...

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