Eureka AIR delivers breakthrough ideas for toughest innovation challenges, trusted by R&D personnel around the world.

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

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

Active Publication Date: 2018-03-23
ZHEJIANG UNIV OF TECH
View PDF5 Cites 18 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Four-rotor aircraft output limited backstepping control method based on asymmetric time-varying obstacle Liapunov function
  • Four-rotor aircraft output limited backstepping control method based on asymmetric time-varying obstacle Liapunov function
  • Four-rotor aircraft output limited backstepping control method based on asymmetric time-varying obstacle Liapunov function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0127] The present invention will be further described below in conjunction with the accompanying drawings.

[0128] refer to Figure 1-Figure 5 , a quadrotor output-limited backstepping control method based on an asymmetric time-varying obstacle Lyapunov function, including the following steps:

[0129] 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:

[0130] 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:

[0131]

[0132] 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;

[0133] 1.2 The dynamic model of the four-rotor aircraft during translation is as...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A four-rotor aircraft output limited backstepping control method based on an asymmetric time-varying obstacle Liapunov function; the invention aims at the four-rotor aircraft dynamics system, selectsthe asymmetric time-varying obstacle Liapunov function, and designs the four-rotor aircraft output limited backstepping control method based on the asymmetric time-varying obstacle Liapunov function;the asymmetric time-varying 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-varying obstacle Liapunov function enables 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-varying 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 w...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强胡忠君陈聪
Owner ZHEJIANG UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com