Nonsingular fixed time adaptive attitude control method of rigid aircraft

A technology of attitude control and fixed time, which is applied in the direction of attitude control, non-electric variable control, control/regulation system, etc.

Active Publication Date: 2018-02-16
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the unknown nonlinear problem existing in the existing aircraft attitude control system, the present invention provides a non-singular fixed-time adaptive attitude control method for rigid aircraft, and in the case of system uncertainty and disturbance, the system state can be realized A constant-time uniformly ultimately bounded control method for

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  • Nonsingular fixed time adaptive attitude control method of rigid aircraft
  • Nonsingular fixed time adaptive attitude control method of rigid aircraft
  • Nonsingular fixed time adaptive attitude control method of rigid aircraft

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[0070] The present invention will be further described below in conjunction with the drawings.

[0071] Refer to Figure 1- Image 6 , A non-singular fixed-time adaptive attitude control method of a rigid aircraft, the control method includes the following steps:

[0072] Step 1. Establish the kinematics and dynamics model of the aircraft, initialize the system state and control parameters, the process is as follows:

[0073] 1.1 The expression form of the kinematics model of the aircraft attitude system is:

[0074]

[0075]

[0076] Where q v =[q 1 ,q 2 ,q 3 ] T And q 4 The vector part and the scalar part of the unit quaternion respectively satisfy Respectively q v And q 4 Derivative of; Ω∈R 3 Is the angular velocity of the aircraft; I 3 Is R 3×3 Identity matrix; × is the operation symbol, apply the operation symbol × to a=[a 1 ,a 2 ,a 3 ] T , Get:

[0077]

[0078] 1.2 The expression form of the dynamic model of the aircraft attitude system is:

[0079]

[0080] Where J ∈ R 3×3 Is t...

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Abstract

A nonsingular fixed time adaptive attitude control method of a rigid aircraft aims at an aircraft attitude stabilization problem having the centralized uncertainty, utilizes a sliding mode control method, and combines the adaptive control, so that a nonsingular fixed time adaptive controller is designed. The design of a nonsingular fixed time sliding mode surface guarantees the fixed time convergence of the state of a system, but also solves a singular value problem. In addition, an adaptive updating law is used to estimate the upper bound of the uncertainty and interference of the system, sothat the upper bound information does not need to be known in advance. According to the present invention, on the condition that the system has the uncertainty and the interference, a control method that the fixed time of the state of the system is uniformly ultimately bounded is realized.

Description

Technical field [0001] The invention relates to a non-singular fixed-time adaptive attitude control method of a rigid aircraft, in particular to an aircraft attitude control method with external interference 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 altitude loop). The flight control law design of UAV determines its flight performance. These performances include various flight performances, such as take-off and landing performance, operational flight performance, flight safety and reliability, flight monitorability, system automation, maintainability, etc. The performance requirements of UAV flight control systems are becoming more and more complex, and classical control methods are difficult to handle a...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 陈强谢树宗孙明轩何熊熊庄华亮
Owner ZHEJIANG UNIV OF TECH
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