Four-rotor aircraft output-limited backstepping control method based on integral sliding mode obstacle Lyapunov function

A quadrotor aircraft, integral sliding mode 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: 2018-05-15
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 integral sliding mode obstacle Lyapunov function
  • Four-rotor aircraft output-limited backstepping control method based on integral sliding mode obstacle Lyapunov function
  • Four-rotor aircraft output-limited backstepping control method based on integral sliding mode obstacle Lyapunov function

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Embodiment Construction

[0119] The present invention will be further described below in conjunction with the accompanying drawings.

[0120] refer to Figure 1-Figure 5 , a quadrotor output-limited backstepping control method based on integral sliding mode obstacle Lyapunov function, including the following steps:

[0121] 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:

[0122] 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:

[0123]

[0124] 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;

[0125] 1.2 The dynamic model of the four-rotor aircraft during translation is as foll...

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Abstract

Provided is a four-rotor aircraft output-limited backstepping control method based on an integral sliding mode obstacle Lyapunov function. For the dynamic system of a four-rotor aircraft, an integralsliding mode obstacle Lyapunov function is selected, and a four-rotor aircraft output-limited backstepping control method based on the integral sliding mode obstacle Lyapunov function is designed. Theintegral sliding mode obstacle Lyapunov function is designed in order to ensure that the output of the system is limited within a certain range, avoid too large overshoot and reduce the time of arrival. Therefore, the dynamic response performance of the four-rotor aircraft system is improved. The invention provides a four-rotor aircraft output-limited backstepping control method based on an integral sliding mode obstacle Lyapunov function, which 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 integral sliding mode 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 wid...

Claims

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Application Information

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