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Attitude controller for quadrotor unmanned aerial vehicle with dynamic characteristics being unknown and method

A dynamic characteristic, quad-rotor aircraft technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the problem of being susceptible to aerodynamic disturbance parameter perturbation, model parameters cannot be accurately measured, and the quality of quad-rotor UAV. , small moment of inertia, etc.

Active Publication Date: 2017-12-15
SHANDONG UNIV
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Problems solved by technology

[0004] 1. Due to the small mass and moment of inertia of the quadrotor UAV, it is extremely vulnerable to disturbances such as aerodynamic disturbance, ground effect, and parameter perturbation during its flight.
[0005] 2. Some model parameters cannot be accurately measured, and model parameters may change during flight. In addition, some unknown dynamics of UAVs cannot be accurately modeled
However, the above-mentioned control algorithms are all based on accurate system models, and the precise measurement of model parameters of small quadrotor UAVs has high requirements for experimental devices, and it is difficult to implement

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  • Attitude controller for quadrotor unmanned aerial vehicle with dynamic characteristics being unknown and method
  • Attitude controller for quadrotor unmanned aerial vehicle with dynamic characteristics being unknown and method
  • Attitude controller for quadrotor unmanned aerial vehicle with dynamic characteristics being unknown and method

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Embodiment Construction

[0079] Below in conjunction with accompanying drawing and example the present invention will be further described:

[0080] The quadrotor UAV is a typical nonlinear system, with six degrees of freedom, that is, displacement in three directions and rotation around the three axes of the coordinate system, while the aircraft only has four independent inputs, that is, the output generated by the four propellers. lift. The dynamic model of the quadrotor UAV is established under the geographic coordinate system {E} and the body coordinate system {B}.

[0081] In order to simplify the motion model of the quadrotor aircraft and ignore the elastic deformation during flight, the following assumptions are made:

[0082] 1) The aircraft is rigid and symmetrical;

[0083] 2) The ground coordinate system is an inertial coordinate system, and the acceleration of gravity does not change with the change of flight altitude;

[0084] 3) Neglecting the influence of the earth's rotation and rev...

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Abstract

The invention discloses an attitude controller for a quadrotor unmanned aerial vehicle with dynamic characteristics being unknown and a method. It is assumed that quadrotor unmanned aerial vehicle model parameters such as the moment of inertia and the air damping coefficient are unknown, and bounded disturbance suffered by the system is time-varying and always exists in the system. In allusion to the unknown model parameters, the invention designs a corresponding differential estimator to perform online estimation on a position parameter. Based on a parameter estimation value, an improved adaptive nonsingular terminal sliding mode controller is designed to complete stable control for the attitude of the quadrotor unmanned aerial vehicle. In addition, an adaptive disturbance compensator is further designed to perform effective compensation on the bounded disturbance. Simulation and experimental results show that the control algorithm can well accomplish stable control for the attitude of the quadrotor unmanned aerial vehicle and has high robustness for the unknown dynamic characteristics and disturbance of the system.

Description

technical field [0001] The invention relates to the technical field of attitude control of quadrotor UAVs, in particular to a quadrotor UAV attitude controller and a design method based on an improved self-adaptive non-singular terminal sliding mode whose dynamic characteristics are unknown. Background technique [0002] As the most typical type of rotor-type unmanned aerial vehicle, quadrotor drones have been widely used in many fields such as military, rescue, agriculture, and geographical science. More and more scientific research institutions, universities and enterprises are paying attention. With the advancement of microprocessor technology, micro-electro-mechanical systems, new materials, and power batteries, quadrotor aircraft are developing in a more intelligent direction, and their applications have penetrated into all aspects of production and life. more and more complicated. The attitude stability control of the quadrotor UAV studied in the present invention is...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 马昕李轾李贻斌宋锐荣学文
Owner SHANDONG UNIV
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