Aerial vehicle finite-time adaptive attitude control method based on improved power reaching law

An attitude control, limited-time technology, applied in the field of aircraft attitude control with external interference and rotational inertia matrix uncertainty, and can solve problems such as the inability to directly apply aircraft attitude control.

Active Publication Date: 2017-12-19
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] However, in most of the methods proposed above, the kinematics and dynamics model parameters of the aircraft attitude system must be known in a...

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  • Aerial vehicle finite-time adaptive attitude control method based on improved power reaching law
  • Aerial vehicle finite-time adaptive attitude control method based on improved power reaching law
  • Aerial vehicle finite-time adaptive attitude control method based on improved power reaching law

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Embodiment Construction

[0106] The present invention will be further described below in conjunction with the accompanying drawings.

[0107] refer to Figure 1-Figure 6 , a finite-time adaptive attitude control method for an aircraft based on an improved power reaching law, comprising the following steps:

[0108] Step 1, establish the kinematics and dynamics model of the aircraft attitude control system, initialize the system state and control parameters, the process is as follows:

[0109] 1.1 The expression form of the dynamic model of the aircraft attitude control system is:

[0110]

[0111] Among them, ω, are the angular velocity and angular acceleration of the aircraft respectively; × is the operation symbol, apply the operation symbol × to a=[a 1 ,a 2 ,a 3 ] T available a × =[0,-a 3 ,a 2 ;a 3 ,0,-a 1 ;-a 2 ,a 1 ,0]; J∈R 3×3 is the rotational inertia matrix of the aircraft; u∈R 3 and d(t)∈R 3 are the control torque and external disturbance;

[0112] 1.2 The kinematics mode...

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Abstract

An aerial vehicle finite-time adaptive attitude control method based on an improved power reaching law aims at a problem of aerial vehicle attitude stabilization with concentrated uncertainty. A sliding mode control method based on the improved power reaching law is utilized, and furthermore through adaptive controlling, the aerial vehicle finite-time adaptive attitude control method based on the improved power reaching law is designed. A terminal sliding mode surface is designed for ensuring definite-time convergence of a system. Furthermore through the improved power reaching law, a buffeting problem is reduced in an actual control system. Furthermore the adaptive controlling is used for a feedback control system which intelligently adjusts a self characteristic according to the environment change so that the system can operate in an optimal state according to some preset standards. The invention provides the control method which can reduce the buffeting problem of the sliding mode surface and a control torque and furthermore realizes uniform ultimate boundedness of finite time of the system on the condition that uncertainty and interference exist in the system.

Description

technical field [0001] The invention relates to a finite-time self-adaptive attitude control method of an aircraft based on an improved power reaching law, in particular to an aircraft attitude control method with external disturbance and uncertainty of the rotational inertia matrix. Background technique [0002] The flight control system is the core of the UAV. To complete the autonomous flight of the UAV, the control system needs to have good control characteristics for both the inner loop (attitude loop) and the outer loop (horizontal position and height loop). The flight control law design of UAV determines its flight performance. These performances include various flight performances, such as: takeoff and landing performance, operational flight performance, flight safety and reliability, flight monitorability, system automation, maintainability, etc. However, the performance requirements of UAV flight control systems are becoming more and more complex, and it is diffic...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强陶玫玲孙明轩何熊熊庄华亮
Owner ZHEJIANG UNIV OF TECH
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