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Four-rotor aircraft output limited backstepping control method based on the asymmetric time-invariant obstacle Liapunov function

A quadrotor aircraft, backstep control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as application obstacles of quadrotor aircraft system

Active Publication Date: 2018-03-23
ZHEJIANG UNIV OF TECH
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AI Technical Summary

Problems solved by technology

Therefore, the traditional backstepping control method greatly hinders the application of the quadrotor aircraft system in practical situations.

Method used

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  • Four-rotor aircraft output limited backstepping control method based on the asymmetric time-invariant obstacle Liapunov function
  • Four-rotor aircraft output limited backstepping control method based on the asymmetric time-invariant obstacle Liapunov function
  • Four-rotor aircraft output limited backstepping control method based on the asymmetric time-invariant obstacle Liapunov function

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Embodiment Construction

[0130] The present invention will be further described below in conjunction with the accompanying drawings.

[0131] Step 1, establish the dynamic model of the quadrotor aircraft system, set the initial value, sampling time and related control parameters of the system, the process is as follows:

[0132] 1.1 Determine the transfer matrix T from the body coordinate system based on the quadrotor aircraft system to the inertial coordinate system based on the earth:

[0133]

[0134] Among them, φ, θ, and ψ are the roll angle, pitch angle, and yaw angle of the quadrotor aircraft, respectively, indicating the angles at which the UAV rotates around each coordinate axis of the inertial coordinate system in turn;

[0135] 1.2 The dynamic model of the four-rotor aircraft during translation is as follows:

[0136]

[0137] Where x, y, and z represent the three positions of the quadrotor aircraft in the inertial coordinate system, U f Indicates the input torque of the quadrotor a...

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Abstract

A four-rotor aircraft output limited backstepping control method based on an asymmetric time-invariant obstacle Liapunov function; the invention aims at the four-rotor aircraft dynamics system, selects the asymmetric time-invariant obstacle Liapunov function, and designs the four-rotor aircraft output limited backstepping control method based on the asymmetric time-invariant obstacle Liapunov function; the asymmetric time-invariant obstacle Liapunov function ensures the system output to be limited in a certain scope, can prevent overlarge overstrikes, and can reduce the arrival time, thus improving the four-rotor aircraft system dynamic response performance; the four-rotor aircraft output limited backstepping control method based on the asymmetric time-invariant obstacle Liapunov functionenables the system to have a good dynamic response process.

Description

technical field [0001] The invention relates to an output-limited backstepping control method of a four-rotor aircraft based on an asymmetric time-invariant obstacle Lyapunov function, so that the four-rotor aircraft system has a better dynamic response process. Background technique [0002] As a kind of rotorcraft, quadrotor aircraft has attracted wide attention from domestic and foreign universities, research institutions and companies due to its small size, good maneuverability, simple design, and low manufacturing cost. However, due to the small size and light weight of quadrotor aircraft, it is vulnerable to external disturbances during flight, how to achieve high-performance motion control of quadrotor aircraft has become a hot issue. For the control problem of quadrotor aircraft, there are many control methods, such as PID control, active disturbance rejection control, sliding mode control, backstepping control, etc. [0003] Among them, backstepping control has been...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强胡忠君张钰
Owner ZHEJIANG UNIV OF TECH
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