Stable tracking control method for four-rotor unmanned plane based on instruction filtering backstepping method

A technology of quadrotor UAV and control method, applied in the field of stable tracking control of quadrotor UAV

Inactive Publication Date: 2018-06-05
TIANJIN UNIVERSITY OF TECHNOLOGY
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AI Technical Summary

Problems solved by technology

[0030] The technical problem to be solved by the present invention is: under the support of the National Natural Science Foundation of China (Approval No.: 61603274), a stable tracking control method for quadrotor drones based on command filtering backstepping method is provided; The footwork quadrotor UAV stable tracking control method proposes a new type of command filter backstepping control to solve the problem of traditional anti-"calculation expansion". Compared with the traditional backstepping method, the filter is introduced to avoid the complex analytical derivation of virtual control In the process, the tracking controller constructed is simple and effective, effectively solving the problem of "calculation expansion", and finally using the singular disturbance theorem to complete the stability analysis of the closed-loop system

Method used

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  • Stable tracking control method for four-rotor unmanned plane based on instruction filtering backstepping method
  • Stable tracking control method for four-rotor unmanned plane based on instruction filtering backstepping method
  • Stable tracking control method for four-rotor unmanned plane based on instruction filtering backstepping method

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Experimental program
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Effect test

Embodiment 1

[0201] Perform stable tracking control on the system, and select the initial attitude angle of the quadrotor aircraft as The ideal value of the attitude angle is set as a sinusoidal signal with an amplitude of 1 and a frequency of 0.05Hz, and the experiment time is 25s.

[0202] The attitude tracking results of the final system are as follows: Figure 4 to Figure 6 shown. It shows that the pitch, roll and yaw can track the given attitude signal quickly and accurately, and the system can take both steady-state performance and dynamic performance into consideration during the attitude tracking process.

Embodiment 2

[0204] Perform a disturbance test on the system. When the system runs to 12s, the external disturbance torque is added to the stable pitch channel, and the output response of the system is as follows: Figure 7 to Figure 9 shown. Depend on Figures 7 to 9 It shows that the attitude channel has a large overshoot when the disturbance acts, but it can still track the ideal signal quickly and stably after the disturbance disappears.

[0205] The present invention studies the problem of attitude control of quadrotor aircraft, utilizes the dynamic model information of the attitude system of quadrotor aircraft, and considers factors such as the internal uncertainty of the model and external disturbances, designs a command filter backstepping controller, and analyzes the closed-loop System stability. The results of the embodiment show that the command filtering backstepping controller designed in the present invention can effectively realize the attitude control of the quadrotor ai...

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Abstract

The invention discloses a stable tracking control method for a four-rotor unmanned plane based on an instruction filtering backstepping method, and belongs to the field of unmanned aircraft automaticcontrol. The method aims at a dynamic mathematic model of a rigid four-rotor unmanned plane, and is characterized in that the method comprises the following steps: 101, building a four-rotor unmannedplane mathematic model; 102, employing a four-rotor unmanned plane attitude control system. According to the technical scheme of the invention, the method provided by the invention proposes the instruction filtering backstepping control of a new type, and solves a problem of conventional back calculation expansion. Compared with a conventional backstepping method, the method introduces a filter toavoid a complex analysis derivation process of virtual control, and a constructed tracking controller is concise and effective, thereby effectively solving the problem of back calculation expansion.Finally, the singular perturbation theorem is employed for completing the stability analysis of a closed-loop system.

Description

technical field [0001] The invention belongs to the field of automatic control of unmanned aerial vehicles, in particular to a four-rotor unmanned aerial vehicle stable tracking control method based on command filtering backstepping method. Background technique [0002] Unmanned Aerial Vehicle (UAV) refers to an aircraft that is unmanned, can fly autonomously or be operated by remote control, uses aerodynamics to carry the flight, and can be recycled and reused. It can carry lethal or non-lethal loads, and is a hot spot in the development of military weapons in the world today. At the same time, the R&D, manufacturing and application of the civilian drone industry is an important indicator of a country's technological innovation and high-end manufacturing level. With the continuous reduction of the development and production costs of UAVs, its application scope is becoming wider and wider, with strong market demand and broad development prospects, and its role in national e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 吉月辉池文浩高强
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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