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An Adaptive Attitude Control Method for Aircraft Based on Fixed Time Sliding Mode

An adaptive controller, fixed-time technology for attitude control, control/regulation systems, non-electric variable control, etc.

Active Publication Date: 2020-06-30
ZHEJIANG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the unknown nonlinear problem existing in the existing aircraft attitude control system, the present invention provides an aircraft adaptive attitude control method based on fixed time sliding mode, and realizes the system state when there are uncertainties and disturbances in the system A constant-time uniformly ultimately bounded control method for

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  • An Adaptive Attitude Control Method for Aircraft Based on Fixed Time Sliding Mode
  • An Adaptive Attitude Control Method for Aircraft Based on Fixed Time Sliding Mode
  • An Adaptive Attitude Control Method for Aircraft Based on Fixed Time Sliding Mode

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Embodiment Construction

[0074] The present invention will be further described below in conjunction with the accompanying drawings.

[0075] Referring to Figure 1- Image 6 , a kind of aircraft adaptive attitude control method based on fixed time sliding mode, described control method comprises the following steps:

[0076] Step 1, establish the kinematics and dynamics model of the aircraft, initialize the system state and control parameters, the process is as follows:

[0077] 1.1 The expression form of the kinematics model of the aircraft attitude system is:

[0078]

[0079]

[0080] where q v =[q 1 ,q 2 ,q 3 ] T and q 4 The vector and scalar parts of the unit quaternion, respectively, satisfy respectively q v and q 4 Derivative of ; Ω∈R 3 is the angular velocity of the aircraft; I 3 is R 3×3 Unity matrix; × is an operation symbol, and the operation symbol × is applied to a=[a 1 ,a 2 ,a 3 ] T ,have to:

[0081]

[0082] 1.2 The expression form of the dynamic model of the...

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Abstract

The invention discloses an aircraft adaptive attitude control method based on a fixed-time sliding mode. In order to solve the aircraft attitude stabilization problem with centralized uncertainties, a fixed-time adaptive controller is designed by using a sliding mode control method and combining the adaptive control. The design of a fixed-time sliding mode surface ensures the fixed-time convergence of a system, and the convergence time has nothing to do with an initial state of the system. In addition, the adaptive update law is used to estimate the upper bound of system uncertainties and interferences, so upper bound information need not be known in advance. According to the invention, the fixed-time uniformly ultimately bounded control method of the system state is realized in the presence of the system uncertainties and interferences.

Description

technical field [0001] The invention relates to an aircraft self-adaptive attitude control method based on a fixed time sliding model, in particular to an aircraft attitude control method with external interference and uncertainty of the rotational inertia matrix. Background technique [0002] The flight control system is the core of the UAV. To complete the autonomous flight of the UAV, the control system needs to have good control characteristics for both the inner loop (attitude loop) and the outer loop (horizontal position and height loop). The flight control law design of UAV determines its flight performance. These performances include various flight performances, such as: takeoff and landing performance, operational flight performance, flight safety and reliability, flight monitorability, system automation, maintainability, etc. However, the performance requirements of UAV flight control systems are becoming more and more complex, and it is difficult for classical co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 陈强谢树宗孙明轩何熊熊庄华亮
Owner ZHEJIANG UNIV OF TECH