Attitude controller and method for quadrotor UAV with unknown dynamic characteristics
A dynamic characteristic, four-rotor technology, applied in the direction of attitude control, non-electric variable control, control/regulation system, etc., can solve the problem of being easily perturbed by aerodynamic disturbance parameters, model parameters cannot be accurately measured, the quality of quadrotor drones, Problems such as small moment of inertia
Active Publication Date: 2018-10-30
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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[0079] The present invention will be further explained below in conjunction with the drawings and examples:
[0080] Quadrotor UAV is a typical nonlinear system. It has six degrees of freedom, namely displacement in three directions and rotational movement around three axes of the coordinate system, while the aircraft only has four independent inputs, that is, generated by four propellers. Lift. The dynamic model of the quadrotor UAV is established in the geographic coordinate system {E} and the body coordinate system {B}.
[0081] In order to simplify the motion model of the quadrotor 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 flying height;
[0084] 3) Excluding the influence of the earth's rotation and revolution;
[0085] 4) 4 propeller shafts are ar...
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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 quadrotor drone attitude control, in particular to a quadrotor drone attitude controller with unknown dynamic characteristics based on an improved adaptive non-singular terminal sliding mode and a design method. Background technique [0002] As the most typical of rotary-wing unmanned aerial vehicles, quad-rotor UAVs have been widely used in many fields such as military, rescue, agriculture, and geographic science. Its broad military and civilian prospects have made quad-rotor UAVs popular More and more scientific research institutions, universities and enterprises are paying attention. With the advancement of microprocessor technology, micro-electromechanical systems, new materials, and power batteries, quadrotors are developing in a more intelligent direction. Their applications have penetrated into all aspects of production and life, and the flight tasks they face are also It's getting more complicated. T...
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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