A Finite Time Adaptive Control Method for Quadrotor UAV Based on Fast Nonsingular Terminal Sliding Mode

Abstract

A four-rotor unmanned plane finite time self-adaptive control method based on a fast 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 fast 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 fast nonsingular terminal sliding mode; the fast nonsingular terminal sliding mode is designed so as to ensure the system finite time convergence features and fast convergence speed, 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 fast 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...

AI Technical Summary

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.

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