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Given time-based quadrotor unmanned aerial vehicle high-precision attitude tracking control method

A quadrotor UAV, a given time technology, applied in attitude control, vehicle position/route/altitude control, non-electric variable control, etc. problems, such as high-precision and fast attitude tracking control methods for quadrotor UAVs, etc.

Active Publication Date: 2018-06-19
TIANJIN UNIV
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Problems solved by technology

The disadvantage of the UAV control strategy based on dynamic inverse is that the accuracy of the UAV mathematical model is high, and it is difficult to deal with the uncertainty and interference in the system well.
Through the research of public literature at home and abroad, no relevant reports have been found on the high-precision and fast attitude tracking control method for quadrotor UAVs based on convergence at a given time

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  • Given time-based quadrotor unmanned aerial vehicle high-precision attitude tracking control method
  • Given time-based quadrotor unmanned aerial vehicle high-precision attitude tracking control method
  • Given time-based quadrotor unmanned aerial vehicle high-precision attitude tracking control method

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Embodiment Construction

[0053] In view of the shortcomings of the existing control methods and the actual demand for fast maneuvering of the quadrotor UAV, the present invention comprehensively utilizes the time-varying control theory and the sliding mode control theory within the nonlinear control framework, and proposes a four-rotor control algorithm based on a given time convergence for the first time. High-precision and fast attitude tracking control method for rotor UAV. By designing a time-varying sliding mode surface related to a given convergence time, this method ensures that the initial state of the quadrotor UAV is located on the sliding mode surface, which ensures the global robustness of the system and can effectively improve the anti-interference ability of the system. On this basis, in order to obtain continuous attitude control signals, the system is augmented, and the controller is designed based on the time-varying sliding mode theory, and finally high-precision fast tracking of a gi...

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Abstract

The invention belongs to the unmanned aerial vehicle control technical field and provides a given time-based quadrotor unmanned aerial vehicle high-precision attitude tracking control method. With themethod adopted, the convergence time of the attitude tracking of a quadrotor unmanned aerial vehicle can be manually adjusted, so that the attitude tracking error of the quadrotor unmanned aerial vehicle can converge within desired time, and the quadrotor unmanned aerial vehicle can have good tracking performance and anti-jamming capability. The given time-based quadrotor unmanned aerial vehiclehigh-precision attitude tracking control method of the invention has the following steps that: step 1, control oriented quadrotor unmanned aerial vehicle attitude model establishment; step 2, given time-based time-varying sliding mode surface design; and step 3, given time-based high-precision continuous controller design. The given time-based quadrotor unmanned aerial vehicle high-precision attitude tracking control method of the present invention is mainly applied to the aerial vehicle control conditions.

Description

technical field [0001] The invention relates to the technical field of UAV aircraft control, in particular to the field of high-precision and fast attitude tracking control of a small quadrotor UAV. Specifically, it involves a high-precision attitude tracking control method for quadrotor UAVs based on a given time. Background technique [0002] The quadrotor UAV has axial symmetry in the mechanical structure, and the four rotors are evenly distributed on the four ends of the cross structure. The power of this type of UAV is provided by the lift generated by each rotor, and only the rotation of the four rotors needs to be changed. The speed can realize the roll, pitch, yaw and other actions of the drone. The quadrotor UAV has the advantages of small size, light weight, good concealment, suitable for multi-platform and multi-space use, flexible vertical take-off and landing on the ground and warships, and does not need catapults or launchers for launching. Its simple structu...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 田栢苓刘丽红马宇昕崔婕
Owner TIANJIN UNIV
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