Four-rotor unmanned plane finite time self-adaptive control method based on nonsingular terminal sliding mode

A four-rotor UAV, adaptive control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems affecting the quadrotor UAV, gyro torque interference, etc.

Active Publication Date: 2017-12-15
ZHEJIANG UNIV OF TECH
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Problems solved by technology

Aerodynamic interference, gyro torque interference, and parameter perturbation caused by external interference will affect the sensitivity and stability of the flight control of the quadrotor UAV.

Method used

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  • Four-rotor unmanned plane finite time self-adaptive control method based on nonsingular terminal sliding mode
  • Four-rotor unmanned plane finite time self-adaptive control method based on nonsingular terminal sliding mode
  • Four-rotor unmanned plane finite time self-adaptive control method based on nonsingular terminal sliding mode

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Embodiment Construction

[0113] The present invention will be further described below in conjunction with the accompanying drawings.

[0114] refer to Figure 1-Figure 10 , a finite-time adaptive control method for quadrotor UAVs based on non-singular terminal sliding mode, including the following steps:

[0115] Step 1, establish the dynamic model of the quadrotor UAV, initialize the system state, sampling time and system parameters, the process is as follows:

[0116] 1.1 Assuming that the UAV is rigid and completely symmetrical, and its center coincides with the origin of the body coordinate system, analyze the force of the quadrotor UAV system and establish a coordinate system. One is an inertial coordinate system based on the earth, which is defined by the coordinate axis X E , Y E ,Z E OK, the other is based on the body coordinate system of the quadrotor UAV, which is determined by the coordinate axis X B , Y B ,Z B Determined, the transfer matrix M from the body coordinate system to the i...

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Abstract

A four-rotor unmanned plane finite time self-adaptive control method based on a nonsingular terminal sliding mode is provided; the method aims at a four-rotor unmanned plane system with inertia uncertainty factors and external turbulences; according to the four-rotor unmanned plane dynamic system, a nonsingular terminal sliding mode control method is employed, and self-adaptive control is combined, thus designing the four-rotor unmanned plane finite time self-adaptive control method based on the nonsingular terminal sliding mode; the nonsingular terminal sliding mode is designed so as to ensure the system finite time convergence features, thus preventing singularity problems existing in terminal sliding mode control, and effectively weakening jittering problems; in addition, the self-adaptive control is used for processing system inertia uncertainty factors and external turbulences; the method can remove the sliding mode surface singularity problems, and can effectively prevent and compensate the system inertia uncertainty factors and external turbulences, thus ensuring the system finite time convergence features.

Description

technical field [0001] The invention relates to a finite-time self-adaptive control method for a quadrotor UAV based on a non-singular terminal sliding mode, in particular to a system control method for a quadrotor UAV with inertial uncertain factors and external disturbances. Background technique [0002] As a type of rotorcraft, quadrotor drones can easily complete take-off and landing actions by controlling the flight control of the four rotor speeds. They are widely used in aerial photography, geological survey, emergency rescue, environmental assessment and other fields. Due to the small size and light weight of quadrotor UAVs, they are vulnerable to external interference during flight. How to achieve high-performance motion control of quadrotor UAVs has become a hot issue. For the control problem of quadrotor UAV, there are many control methods, such as PID control, active disturbance rejection control, sliding mode control and so on. [0003] Among them, sliding mode...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强叶艳胡如海
Owner ZHEJIANG UNIV OF TECH
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