Four-rotor unmanned plane finite time self-adaptive control method based on fast nonsingular terminal sliding mode
A quadrotor unmanned aerial vehicle, non-singular terminal technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as gyro torque interference and influence on quadrotor drones
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[0092] The present invention will be further described below in conjunction with the accompanying drawings.
[0093] refer to Figure 1-Figure 10 , a finite-time adaptive control method for quadrotor UAVs based on fast non-singular terminal sliding mode, including the following steps:
[0094] Step 1, establish the dynamic model of the quadrotor UAV, initialize the system state, sampling time and system parameters, the process is as follows:
[0095] 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 ...
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