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Quadrotor autonomous ship landing method based on saturated adaptive sliding mode control

An adaptive sliding mode and four-rotor technology, which is applied in attitude control, non-electric variable control, control/regulation system, etc., can solve problems such as input saturation without consideration

Active Publication Date: 2017-12-19
BEIHANG UNIV
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Problems solved by technology

These methods are mainly for a single aircraft, to compensate the motion of the mobile platform to design the controller, and do not consider the problem of input saturation

Method used

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  • Quadrotor autonomous ship landing method based on saturated adaptive sliding mode control
  • Quadrotor autonomous ship landing method based on saturated adaptive sliding mode control
  • Quadrotor autonomous ship landing method based on saturated adaptive sliding mode control

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Embodiment Construction

[0125] Below each part design method in the present invention is further described:

[0126] The present invention "a four-rotor autonomous landing method based on saturation adaptive sliding mode control", the specific steps are as follows:

[0127] Step 1: Establish the kinematics and dynamics model

[0128] Through the six-degree-of-freedom model of the quadrotor and the unmanned ship, after transformation, the relative kinematics and relative dynamics models are established.

[0129]

[0130]

[0131] d 1 and d 2 Expressed as

[0132]

[0133] Among them, ξ=ξ 1 -ξ 2 =[x,y,z] T and η=η 1 -η 2 yes The relative position and relative attitude in the coordinate system, and yes Relative velocity and relative angular velocity in the coordinate system, h(η 1 ) is the matrix the last column of the , and is the aerodynamic friction coefficient matrix of the quadrotor. d 1 and d 2 is bounded, and its unknown bound is expressed as and ΔF total...

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Abstract

The invention relates to a quadrotor autonomous ship landing method based on saturated adaptive sliding mode control. The method comprises steps that firstly, quadrotor and unmanned six-DOF models are established, through coordinate transformation, a relative kinematics and relative dynamics model between the two is established; secondly, an outer ring of a relative position controller is designed; thirdly, an inner ring of the relative position controller is designed; fourthly, relative height control design is carried out, expected relative zero height is provided, a control input quantity of a quadrotor is calculated, and height difference between the quadrotor and an unmanned ship is eliminated; and fifthly, relative height control design is carried out, expected relative zero attitude is provided, other three control quantities of the quadrotor are calculated, attitude between the quadrotor and the unmanned plane is eliminated, and the quadrotor is made to stably land on the unmanned ship. The method is advantaged in that a performer saturation problem is effectively solved, influence of model uncertainty and external interference are inhibited, the system is guaranteed to be global unanimous and bounded, and the landing point error of the quadrotor is guaranteed to be in a permitted scope.

Description

technical field [0001] The invention provides a four-rotor autonomous landing method based on saturation adaptive sliding mode control, which provides a new control method for four-rotor autonomous landing under the circumstances of parameter uncertainty, input saturation and unknown interference, and belongs to UAV automatic control technology field. Background technique [0002] In recent years, there have been more and more researches and practical applications on the control of quadrotors. Compared with helicopters in the traditional sense, quadrotors have the advantages of strong maneuverability, circling flight and simple mechanical structure. Therefore, it can be used to perform tasks such as search and rescue, surveillance exploration and aerial photography. In addition, the application of quadrotors in sea areas can provide efficient ocean reconnaissance capabilities. This requires the quadrotor to have better maneuverability to complete the autonomous landing on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 郑泽伟黄琰婷陈天祝明
Owner BEIHANG UNIV
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