Output limited backstepping control method for four-rotor aircraft based on symmetrical time-invariant barrier Lyapunov 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: 2018-04-20
ZHEJIANG UNIV OF TECH
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Problems solved by technology

Therefore, the traditional backstepping control method greatly hinders t

Method used

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  • Output limited backstepping control method for four-rotor aircraft based on symmetrical time-invariant barrier Lyapunov function
  • Output limited backstepping control method for four-rotor aircraft based on symmetrical time-invariant barrier Lyapunov function
  • Output limited backstepping control method for four-rotor aircraft based on symmetrical time-invariant barrier Lyapunov function

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Embodiment Construction

[0110] The present invention will be further described below in conjunction with the accompanying drawings.

[0111] refer to Figure 1-Figure 5 , a quadrotor output-limited backstepping control method based on symmetric time-invariant obstacle Lyapunov function, including the following steps:

[0112] 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:

[0113] 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:

[0114]

[0115] Among them, φ, θ, and ψ are the roll angle, pitch angle, and yaw angle of the quadrotor aircraft, respectively, indicating the angle at which the UAV rotates around each coordinate axis of the inertial coordinate system in turn;

[0116] 1.2 The dynamic model of the four-rotor aircraft during translation is as fo...

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Abstract

The invention relates to an output limited backstepping control method for a four-rotor aircraft based on a symmetrical time-invariant barrier Lyapunov function. Aimed at a dynamic system of the four-rotor aircraft, the symmetrical time-invariant barrier Lyapunov function is selected, and the output limited backstepping control method for the four-rotor aircraft based on the symmetrical time-invariant barrier Lyapunov function is designed to ensure that system output is limited within certain range, avoid excessive overshoot, and reduce arrival time, and further to improve the dynamic responseperformance of the four-rotor aircraft system. The method provided by the invention enables that the system has a better dynamic response process.

Description

technical field [0001] The invention relates to a four-rotor aircraft output-limited backstepping control method based on a symmetrical 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 widel...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强胡忠君张钰
Owner ZHEJIANG UNIV OF TECH
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