Four-rotor aircraft output-restricted backstepping control method based on symmetric time-variable obstacle Lyapunov function

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

Active Publication Date: 2018-06-01
ZHEJIANG UNIV OF TECH
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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-restricted backstepping control method based on symmetric time-variable obstacle Lyapunov function
  • Four-rotor aircraft output-restricted backstepping control method based on symmetric time-variable obstacle Lyapunov function
  • Four-rotor aircraft output-restricted backstepping control method based on symmetric time-variable obstacle Lyapunov function

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Embodiment Construction

[0111] The present invention will be further described below in conjunction with the accompanying drawings.

[0112] refer to Figure 1-Figure 5 , a quadrotor output-limited backstepping control method based on a symmetrical time-varying obstacle Lyapunov function, including the following steps:

[0113] 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:

[0114] 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:

[0115]

[0116] 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;

[0117] 1.2 The dynamic model of the four-rotor aircraft during translation is as...

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Abstract

The invention provides a four-rotor aircraft output-restricted backstepping control method based on a symmetric time-variable obstable Lyapunov function. For aiming at a dynamic system of the four-rotor aircraft, the symmetric time-variable Lyapunov function is selected, and the four-rotor aircraft output-restricted backstepping control method based on the symmetric time-variable Lyapunov functionis designed. The symmetric time-variable Lyapunov function is designed for restricting the state and the output of the system in a certain range, thereby preventing overlarge overshoot, reducing arrival time and improving dynamic response performance of the four-rotor aircraft system. The four-rotor aircraft output-restricted backstepping control method based on the symmetric time-variable Lyapunov function realizes relatively high dynamic response process of a system.

Description

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

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042G05B13/047
Inventor 陈强胡忠君朱健宏
Owner ZHEJIANG UNIV OF TECH
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