Enhanced exponential reaching law sliding mode control method for quadrotor UAV system

A quadrotor unmanned aerial vehicle, exponential approaching technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve singularity problems, chattering and other problems

Active Publication Date: 2018-06-12
ZHEJIANG UNIV OF TECH
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  • Abstract
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Problems solved by technology

However, the traditional sliding mode variable structure can cause singularity problems and chattering

Method used

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  • Enhanced exponential reaching law sliding mode control method for quadrotor UAV system
  • Enhanced exponential reaching law sliding mode control method for quadrotor UAV system
  • Enhanced exponential reaching law sliding mode control method for quadrotor UAV system

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Embodiment Construction

[0089] The present invention will be further described below with reference to the accompanying drawings.

[0090] refer to Figure 1-Figure 6 , an enhanced exponential reaching law sliding mode control method for a quadrotor UAV system, comprising the following steps:

[0091] Step 1, determine the transition matrix from the body coordinate system based on the quadrotor UAV to the inertial coordinate system based on the earth;

[0092]

[0093] Among them, ψ, θ, and φ are the yaw angle, pitch angle, and roll angle of the UAV, respectively, which represent the rotation angle of the UAV around each axis of the inertial coordinate system, T ψ represents the transition matrix of ψ, T θ represents the transition matrix of θ, T φ represents the transition matrix of φ;

[0094] Step 2, analyze the UAV dynamics model according to Newton's Euler formula;

[0095] 2.1, there are:

[0096]

[0097] where x, y, z respectively represent the position of the drone in the inertia...

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Abstract

The invention provides an enhanced exponential reaching law sliding mode control method for a quadrotor UAV system. Based on the exponential reaching law sliding mode control method for a quadrotor UAV system, an enhanced exponential reaching law sliding mode control method for the quadrotor UAV system is designed. The design of the enhanced exponential reaching law is to ensure that the sliding mode of the system can reach the sliding mode surface faster, without increasing the chattering phenomenon of the system and realizing the system's fast and stable control.

Description

technical field [0001] The invention relates to an enhanced exponential reaching law sliding mode control method of a quadrotor unmanned aerial vehicle system. Background technique [0002] As a type of rotary-wing aircraft, quadrotors have attracted extensive attention from universities, research institutions and companies at home and abroad due to their small size, good maneuverability, simple design and low manufacturing cost. Rotor UAVs are very suitable for civilian and military fields such as surveillance and reconnaissance. In the civil field, the rotor unmanned aerial vehicle is mainly used in disaster relief, ground monitoring, high-altitude aerial photography, etc.; due to its high concealment and good reliability, it is also used in battlefield monitoring, military reconnaissance and other military fields. In terms of scientific research, quadrotor UAVs have nonlinear, underactuated, and strongly coupled dynamic characteristics, and researchers often use them as ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强陈凯杰胡如海
Owner ZHEJIANG UNIV OF TECH
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