Four-rotor aircraft nonlinear sliding mode position and attitude control method based on single exponential function

A technology of a quadrotor aircraft and a control method, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of long flight distance and time, poor operability, etc.

Active Publication Date: 2018-01-09
ZHEJIANG UNIV OF TECH
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Problems solved by technology

UAVs can be divided into fixed-wing and rotary-wing. The advantages of fixed-wing UAVs are high energy efficiency, so the flight distance and time are longer. Small gliders are easier to control when the wind speed is not strong, but they are designed In unmanned mode, the operability is poor

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  • Four-rotor aircraft nonlinear sliding mode position and attitude control method based on single exponential function
  • Four-rotor aircraft nonlinear sliding mode position and attitude control method based on single exponential function
  • Four-rotor aircraft nonlinear sliding mode position and attitude control method based on single exponential function

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Embodiment Construction

[0083] The present invention will be further described below in conjunction with the accompanying drawings.

[0084] refer to Figure 1-Figure 5 , a nonlinear sliding mode pose control method for a quadrotor aircraft based on a single exponential function, comprising the following steps:

[0085] Step 1, establish the dynamic model of the quadrotor UAV system, initialize the system state, sampling time and control parameters, the process is as follows:

[0086] 1.1 The expression form of the dynamic model of the quadrotor UAV system is:

[0087]

[0088] Among them, x, y, and z represent the positions of the three coordinate axes of the UAV in the inertial coordinate system, m represents the mass of the UAV, and F represents the total external force acting on the UAV, including the gravity of the UAV The resultant force U generated by mg and the four rotors F , T is the transfer matrix from the body coordinate system to the inertial coordinate system, expressed as:

[0...

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Abstract

The invention provides a four-rotor aircraft nonlinear sliding mode position and attitude control method based on a single exponential function. For a four-rotor UAV (unmanned aerial vehicle) system having a dynamic execution mechanism, the invention designs the four-rotor UAV system nonlinear sliding mode position and attitude control method by utilizing a nonlinear sliding mode control method. The design of a sliding mode surface is to ensure fast and steady convergence of the system; and besides, since the sliding mode surface is designed based on a nonlinear function, robustness and tracking precision of the system can be improved. The four-rotor aircraft nonlinear sliding mode position and attitude control method based on the single exponential function realizes fast and stable control of the system.

Description

technical field [0001] The invention relates to a nonlinear sliding mode position and attitude control method of a quadrotor aircraft based on a single exponential function, so as to meet the performance requirements of the quadrotor UAV for fast and accurate tracking of reference inputs. Background technique [0002] Unmanned Aerial Vehicle (UAV) is an aircraft that can fly autonomously through remote control or based on the UAV's own sensors. With the continuous maturity of its technology, it has been used in many fields of civil and military use. UAVs can be divided into fixed-wing and rotary-wing. The advantages of fixed-wing UAVs are high energy efficiency, so the flight distance and time are longer. Small gliders are easier to control when the wind speed is not strong, but they are designed In unmanned mode, the operability is poor. In contrast, the rotor drone has strong maneuverability and mobility, can easily complete take-off and landing actions, and has relative...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 陈强胡如海陈凯杰
Owner ZHEJIANG UNIV OF TECH
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