Quadrotor unmanned aerial vehicle finite time attitude tracking control method

A quad-rotor UAV, limited time technology, applied in attitude control, non-electric variable control, control/regulation system and other directions, can solve the problem that quad-rotor UAV cannot achieve limited-time attitude tracking, etc. performance and steady-state performance, the effect of improving robustness

Active Publication Date: 2017-05-31
哈尔滨工业大学人工智能研究院有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the four-rotor UAV cannot realize the limited-time attitude tracking under the conditions of various stability influencing factors, and propose a four-rotor UAV limited-time attitude tracking control method

Method used

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  • Quadrotor unmanned aerial vehicle finite time attitude tracking control method
  • Quadrotor unmanned aerial vehicle finite time attitude tracking control method
  • Quadrotor unmanned aerial vehicle finite time attitude tracking control method

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specific Embodiment approach 1

[0023] Specific embodiment one: the idea of ​​a kind of quadrotor unmanned aerial vehicle limited time attitude tracking control method of the present invention is:

[0024] First, establish a kinematics model based on the relative motion of the quadrotor UAV attitude tracking; analyze and model the disturbance torque faced by the quadrotor in actual engineering, unknown moment of inertia, control output saturation and actuator failure, etc. Stability factors, establishing a dynamic model for quadrotor UAV attitude tracking;

[0025] Second, based on the principle of stabilizing the attitude error in a finite time, the attitude filter error is defined; based on the sliding mode control method that is insensitive to parameter changes and disturbances, a finite time integral sliding mode surface is designed, and the constant disturbance is suppressed by introducing an integral term, reducing Small steady-state error;

[0026] Third, based on the design principle of simple struc...

specific Embodiment approach 2

[0033] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the specific process of establishing the kinematics model of the four-rotor UAV attitude tracking in the step one is:

[0034] Considering that the attitude of the quadrotor UAV is described by the quaternion, the relative motion of the attitude tracking of the quadrotor UAV can be expressed as:

[0035]

[0036] in, respectively represent the attitude tracking error and angular velocity error of the UAV body coordinate system relative to the desired coordinate system, and have represent the body attitude and angular velocity of the UAV, respectively; represent the desired attitude and angular velocity of the UAV, respectively, and ω d , known and bounded; Indicates the attitude rotation matrix of the UAV body coordinate system relative to the desired coordinate system, and has and ||C||=1; Represents quaternion multiplication; · T Represents the transp...

specific Embodiment approach 3

[0041] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the specific process of establishing the dynamic model of quadrotor UAV attitude tracking in the said step two is:

[0042] The actuator of the quadrotor UAV is a brushless DC motor, which has the maximum allowable instantaneous current. In order to avoid motor burnout, it is necessary to consider the constraint of control output saturation in the control design; Some failures may occur due to the impact of high-intensity tasks; in addition, quadrotor UAVs have been affected by external wind torque interference and gyro torque and other interference torques. The above factors need to be considered in the modeling analysis of quadrotor UAV attitude dynamics. The specific modeling analysis is as follows: figure 2 shown.

[0043]In summary, considering the disturbance torque, unknown moment of inertia, control output saturation and actuator failures faced by the quadr...

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Abstract

The invention relates to a quadrotor unmanned aerial vehicle attitude control system modeling and finite time attitude tracking control method, in particular to a quadrotor unmanned aerial vehicle finite time attitude tracking control method. Disturbance torque with which a quadrotor unmanned aerial vehicle is confronted is comprehensively analyzed, rotating inertia is unknown, output saturation and actuator failure and other factors are controlled, a passive fault-tolerant controller is designed on the basis of a parameter adaptive method, and the finite time stabilizing function is achieved. The method comprises the steps of 1 building a quadrotor unmanned aerial vehicle attitude tracking kinematic model, 2 building a quadrotor unmanned aerial vehicle attitude tracking kinetic model, 3 defining quadrotor unmanned aerial vehicle attitude smoothing errors, 4 designing a finite time integral sliding mode surface, and 5 designing a quadrotor unmanned aerial vehicle finite time attitude tracking controller. The method is used for the field of unmanned aerial vehicle flight control.

Description

technical field [0001] The invention relates to a limited-time attitude tracking control method for a four-rotor UAV. Background technique [0002] As a small unmanned aerial vehicle that can take off and land vertically and hover at a fixed point, quadrotor drones have been widely used in commercial and civilian fields because of their simple mechanical structure, high safety, and low cost of use. For example, the U.S. Federal Aviation Administration has approved oil and gas companies to use quadrotors for oil field exploration, and Israel's Bladeworx company has developed a drone surveillance system to protect the Jerusalem light rail from sabotage. In addition, quadrotor drones have also made great progress in applications such as video aerial photography, agricultural plant protection, and cargo handling. [0003] As a kind of underactuated control system, quadrotor UAV has reliable attitude control is an important condition and guarantee for it to complete various flig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 王辉张立宪沈俊楠朱延正宁泽鹏韩铭昊
Owner 哈尔滨工业大学人工智能研究院有限公司
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