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A dynamic surface output adjustment control method for quadrotor aircraft attitude

A quadrotor aircraft, output adjustment technology, applied in the field of unmanned aerial vehicles, can solve the problems of reduction, non-differentiable mathematical model, uncertain system asymptotic tracking and interference suppression, etc.

Active Publication Date: 2020-07-10
TIANJIN UNIVERSITY OF TECHNOLOGY
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AI Technical Summary

Problems solved by technology

The internal model method is an effective tool to solve the asymptotic tracking and disturbance suppression problems of uncertain systems
The Dynamic Surface Control (DSC) method uses a low-pass filter in the design of the control law, which solves the problem that the object mathematical model is not differentiable in the backstepping method, thus avoiding the generation of "calculation expansion" and reducing the virtual control to smooth signal request

Method used

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  • A dynamic surface output adjustment control method for quadrotor aircraft attitude
  • A dynamic surface output adjustment control method for quadrotor aircraft attitude
  • A dynamic surface output adjustment control method for quadrotor aircraft attitude

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Embodiment Construction

[0135] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0136] see Figure 1 to Figure 3 , a dynamic surface output adjustment control method for quadrotor aircraft attitude to improve the flight quality of quadrotor drones.

[0137] The linear active disturbance rejection control method for quadrotor aircraft attitude, the specific design includes the following steps:

[0138] (1) Establish the dynamic model of the quadrotor system:

[0139] Establish a mathematical model for a rigid and strictly symmetrical quadrotor aircraft:

[0140]

[0141]

[0142]

[0143]

[0144]

[0145]

[0146] Among them, x, y, and z are the positions of the center of mass of the body in the ground coordinate system; γ, θ, and ψ are the pitch angle, roll angle, and yaw angle; J x,J y ,J z Respe...

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Abstract

The invention discloses a dynamic surface output regulation control method for a four-rotor aircraft attitude. The method is characterized by comprising a step 101 of establishing a dynamic model of afour-rotor system; a step 102 of determining a system state equation and an outer system; a step 103 of designing a four-rotor aircraft attitude controller; and a step 104 of conducting a stability analysis. According to the invention, as for the four-rotor craft attitude tracking problem, an internal model method is an effective tool to solve the asymptotic tracking and interference suppressionproblems of an uncertain system. Since the four-rotor aircraft is unavoidably affected by various external disturbances and attitude tracking problems are often involved, the output regulation theorycan solve these problems. The dynamic surface control (DSC) method uses a low-pass filter in the control law design, the non-differentiable problem of the mathematical model of the controlled plant ina backstepping method is solved, thus the "computational expansion" is avoided, and the requirements of virtual control to be smooth signals are lowered.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a dynamic surface output adjustment control method for the attitude of a quadrotor aircraft. Background technique [0002] Quadrotor drones have incomparable advantages over fixed-wing drones: they can adapt to various environments; they have autonomous take-off and landing capabilities, and are highly intelligent; they can fly in various attitudes, such as hovering in the air, flying forward, and flying sideways and inverted etc. These advantages make the quadrotor aircraft have important military and civilian values, and it is especially suitable for flying in near-ground environments (such as indoors and jungles, etc.), in atmospheric monitoring, search and rescue, aerial photography monitoring, resource exploration, power line monitoring, and forest fire prevention. It has a wide range of application prospects in harsh environments such as military use; in t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
Inventor 高强杜梅吉月辉
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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