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High precision attitude tracking control method for quadrotor UAV based on given time

A four-rotor unmanned aerial vehicle, a given time technology, applied in attitude control, vehicle position/route/altitude control, control/adjustment system, etc., can solve the problem of high accuracy and uncertainty of the mathematical model of the UAV In order to achieve the effects of improving the fast maneuverability, tracking performance and robustness, and improving the fast maneuverability

Active Publication Date: 2021-08-31
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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  • High precision attitude tracking control method for quadrotor UAV based on given time
  • High precision attitude tracking control method for quadrotor UAV based on given time
  • High precision attitude tracking control method for quadrotor UAV based on given time

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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 relates to the technical field of unmanned aerial vehicle control. It proposes to realize the artificial adjustment of the convergence time of the attitude tracking of the quadrotor UAV, so that the attitude tracking error of the quadrotor UAV can converge within a desired time. At the same time, it has good tracking performance and anti-interference ability. For this reason, the present invention, based on the quadrotor UAV high-precision attitude tracking control method at a given time, the steps are as follows: the first part, the control-oriented quadrotor UAV attitude Model establishment: the second part, the design of the time-varying sliding surface at a given time; the third part, the design of a high-precision continuous controller at a given time. The invention is mainly applied to the control occasion of unmanned aerial vehicle.

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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Patent Type & Authority Patents(China)
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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