Model-free adaptive robust control method for small unmanned helicopter

A model-free self-adaptive, unmanned helicopter technology, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve the problem of inability to meet the control accuracy, and achieve a good control effect to compensate for the uncertainty of model parameters Effect

Active Publication Date: 2020-11-10
TIANJIN UNIV
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Problems solved by technology

The tasks performed by unmanned helicopters are becoming more and more complex. Controls such as PID and LQR can no longer meet the requirements of control accuracy. We need to find out more effective nonlinear control algorithms to control UAVs, such as sliding film control, robust control, Neural network control, data-driven control, machine learning, etc., to complete more complex tasks

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  • Model-free adaptive robust control method for small unmanned helicopter
  • Model-free adaptive robust control method for small unmanned helicopter
  • Model-free adaptive robust control method for small unmanned helicopter

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Embodiment Construction

[0034] The technical solution adopted in the present invention is a model-free adaptive robust control method for small unmanned helicopters, the steps are as follows:

[0035] (1) Establish the coordinate system related to the small unmanned helicopter:

[0036] In order to facilitate the design of nonlinear controller and adaptive law, the following definitions are set:

[0037] The two coordinate systems are the inertial coordinate system {I} and the body coordinate system {B}, both of which satisfy the right-hand rule. The origin of the inertial coordinate system {I} is located on the ground, and the origin of the body coordinate system {B} is located on the drone centroid of {x I the y I z I} and {x B the y B z B} respectively represent the three main axes corresponding to the inertial coordinate system {I} and the body coordinate system {B};

[0038] (2) Establish a dynamic model between the UAV using the helicopter's lateral cyclical pitch, longitudinal cycli...

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Abstract

The invention relates to an unmanned aerial vehicle (UAV) control method and designs an adaptive law and nonlinear controller with good robustness and capable of compensating the uncertainty of a dynamic system for a small unmanned helicopter. A model-free adaptive robust control method for a small unmanned helicopter comprises the following steps of: designing a controller for adjusting and compensating the output data of the controller at the current time in real time according to attitude sampling data at a previous time and the output sampling data of the controller so as to achieve good small unmanned helicopter attitude control, wherein (1) establishing a small unmanned helicopter-related coordinate system: (2) establishing a dynamic module between the horizontal cyclic pitch, the vertical cyclic pitch, and the tail rotor collective pitch of the unmanned helicopter and the roll angle, the pitch angle and the yaw angle of the UAV; and (3) designing a nonlinear controller. The control method is mainly applied to the control of UAVs.

Description

technical field [0001] The invention relates to a control method for an unmanned aerial vehicle, in particular to a control method based on model-free adaptive control theory. Specifically, it involves a model-free adaptive robust control method for small unmanned helicopters. Background technique [0002] Small unmanned helicopters are special aircraft that can complete autonomous flight tasks without human driving. This type of aircraft has many characteristics such as vertical take-off and landing, low-altitude flight, etc., and has been widely used in various fields. At the same time, due to the characteristics of strong coupling, nonlinearity, and complex mathematical models of unmanned helicopters, it is difficult to analyze and model the dynamics of unmanned helicopters and design controllers. [0003] With the increasing application range of small unmanned helicopters, the research on control algorithms for small unmanned helicopters has become one of the hot issue...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 鲜斌潘晓龙
Owner TIANJIN UNIV
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