Adaptive control method of four-rotor aircraft finite time on the basis of quick terminal slip form

A quadrotor aircraft, adaptive control technology, applied in the field of quadrotor aircraft system, can solve problems such as poor robustness, inability to effectively suppress buffeting, and poor real-time performance

Active Publication Date: 2018-02-13
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the problems of the existing four-rotor aircraft control method, which cannot avoid the system singularity problem, cannot effectively suppress chattering, poor robustness, and poor real-time performance, the present invention comprehensively considers the linear sliding mode and the fast terminal sliding mode, a f...

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  • Adaptive control method of four-rotor aircraft finite time on the basis of quick terminal slip form
  • Adaptive control method of four-rotor aircraft finite time on the basis of quick terminal slip form
  • Adaptive control method of four-rotor aircraft finite time on the basis of quick terminal slip form

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Embodiment Construction

[0118] The present invention will be further described below in conjunction with the accompanying drawings.

[0119]refer to Figure 1-Figure 10 , a finite-time adaptive control method for quadrotor aircraft based on fast terminal sliding mode, including the following steps:

[0120] Step 1, analyze the quadrotor aircraft system, establish the dynamic model of the quadrotor aircraft, initialize the system state, sampling time and control parameters, the process is as follows:

[0121] 1.1 Before establishing the dynamic model, we establish two coordinate systems: the ground coordinate system E and the body coordinate system B; define the attitude angle: φ, θ, and ψ respectively represent the roll angle, pitch angle, and yaw angle, that is, the body coordinates The rotation angles of system B relative to the ground coordinate system E around the x, y, and z axes respectively; assuming that the aircraft is rigid and completely symmetrical in structure, and the center of gravity...

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Abstract

The invention discloses an adaptive control method of four-rotor aircraft finite time on the basis of a quick terminal slip form, and is suitable for a four-rotor aircraft system with inertial uncertainty and external disturbance. A linear slipping modal and a quick terminal sliding modal are comprehensively considered, a terminal attractor is introduced into the system sliding modal, so that a system state is converged in the finite time, the quickness of the linear slip form when an equilibrium state is approached is kept so as to quickly converge the system state to the equilibrium state inthe finite time. The invention applies the quick terminal slip form to put forward the adaptive control method of four-rotor aircraft finite time on the basis of the quick terminal slip form, a system singularity problem is avoided, buffeting is effectively inhibited, the method exhibits good robustness for the external disturbance and the uncertainty in a four-rotor aircraft system, and the system can quickly converge in the finite time.

Description

technical field [0001] The invention relates to a finite-time self-adaptive control method for a quadrotor aircraft based on a fast terminal sliding mode, and is especially suitable for a quadrotor aircraft system with inertial uncertainty and external disturbance. Background technique [0002] Quadrotor aircraft is an aircraft with 6 degrees of freedom that can take off and land vertically and hover at a fixed point. It has 4 propellers and the propellers are cross-shaped or X-shaped. The opposite rotors have the same direction of rotation and can be divided into two groups with different directions of rotation, which can realize actions such as take-off, hovering, and landing by controlling the speed of the four rotors. Due to the simple structure, good maneuverability, small size and light weight of the quadrotor aircraft, it has been widely used in civil, national defense, military and scientific research fields. The control system of quadrotor aircraft includes positio...

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Application Information

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IPC IPC(8): G05B13/04G05D1/08G05D1/10
CPCG05B13/04G05D1/0825G05D1/101
Inventor 陈强张钰孙明轩何熊熊庄华亮
Owner ZHEJIANG UNIV OF TECH
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