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Quad-rotor aircraft nonlinear sliding mode pose control method based on error exponential function

A four-rotor aircraft, error index technology, applied in attitude control, non-electric variable control, three-dimensional position/course control, etc., can solve problems such as poor operability, long flight distance and time

Active Publication Date: 2017-11-21
ZHEJIANG UNIV OF TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

UAVs can be divided into fixed-wing and rotary-wing. The advantages of fixed-wing UAVs are high energy efficiency, so the flight distance and time are longer. Small gliders are easier to control when the wind speed is not strong, but they are designed In unmanned mode, the operability is poor

Method used

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  • Quad-rotor aircraft nonlinear sliding mode pose control method based on error exponential function
  • Quad-rotor aircraft nonlinear sliding mode pose control method based on error exponential function
  • Quad-rotor aircraft nonlinear sliding mode pose control method based on error exponential function

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Embodiment Construction

[0085] The present invention will be further described below in conjunction with the accompanying drawings.

[0086] refer to Figure 1-Figure 5 , a nonlinear sliding mode pose control method for a quadrotor aircraft based on an error exponential function, comprising the following steps:

[0087] Step 1, establish the dynamic model of the quadrotor UAV system, initialize the system state, sampling time and control parameters, the process is as follows:

[0088] 1.1 The expression form of the dynamic model of the quadrotor UAV system is:

[0089]

[0090] Among them, x, y, and z represent the positions of the three coordinate axes of the UAV in the inertial coordinate system, m represents the mass of the UAV, and F represents the total external force acting on the UAV, including the gravity of the UAV The resultant force U generated by mg and the four rotors F , T is the transfer matrix from the body coordinate system to the inertial coordinate system, expressed as:

[0...

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Abstract

The invention relates to a quad-rotor aircraft nonlinear sliding mode pose control method based on an error exponential function. The invention design a quad-rotor unmanned aerial vehicle nonlinear sliding mode pose control method by using a nonlinear sliding mode control method in allusion to a quad-rotor unmanned aerial vehicle system containing a dynamic execution mechanism. The design of a sliding mode surface is to ensure quick and stable convergence of the system. In addition, the robustness and the tracking accuracy of the system can be improved by adopting a nonlinear function to design the sliding mode surface. The quad-rotor aircraft nonlinear sliding mode pose control method based on the error exponential function realize quick and stable control of the system.

Description

technical field [0001] The invention relates to a nonlinear sliding mode position and attitude control method of a quadrotor aircraft based on an error exponential function, so as to meet the performance requirements of the quadrotor drone for fast and accurate tracking of a reference input. Background technique [0002] Unmanned Aerial Vehicle (UAV) is an aircraft that can fly autonomously through remote control or based on the UAV's own sensors. With the continuous maturity of its technology, it has been used in many fields of civil and military use. UAVs can be divided into fixed-wing and rotary-wing. The advantages of fixed-wing UAVs are high energy efficiency, so the flight distance and time are longer. Small gliders are easier to control when the wind speed is not strong, but they are designed In unmanned mode, the operability is poor. In contrast, the rotor drone has strong maneuverability and mobility, can easily complete take-off and landing actions, and has relat...

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 陈强胡如海陈凯杰
Owner ZHEJIANG UNIV OF TECH
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