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Four-rotor aircraft total-state constrained control method based on symmetric time varying tangent constraint Lyapunov function

A quadrotor aircraft and control method technology, applied in attitude control, non-electric variable control, adaptive control, etc., can solve the problems of poor transient performance, reduce overshoot and overshoot time, etc.

Inactive Publication Date: 2018-07-10
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the poor transient performance of the existing four-rotor aircraft system, the present invention provides a four-rotor aircraft full-state limited control method based on the symmetrical time-varying tangent Lyapunov function, which reduces the overshoot and Overshoot time, so that the quadrotor system has a good dynamic response performance

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  • Four-rotor aircraft total-state constrained control method based on symmetric time varying tangent constraint Lyapunov function
  • Four-rotor aircraft total-state constrained control method based on symmetric time varying tangent constraint Lyapunov function
  • Four-rotor aircraft total-state constrained control method based on symmetric time varying tangent constraint Lyapunov function

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Embodiment Construction

[0119] The present invention will be further described below in conjunction with the accompanying drawings.

[0120] refer to Figure 1-Figure 7 , a full-state limited control method for a quadrotor aircraft based on a symmetrical time-varying tangent-type constrained Lyapunov function, including the following steps:

[0121] Step 1, establish the dynamic model of the quadrotor aircraft system, set the initial value, sampling time and control parameters of the system, the process is as follows:

[0122] 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:

[0123]

[0124] Among them, φ, θ, ψ are the roll angle, pitch angle, and yaw angle of the quadrotor aircraft, respectively, indicating the angles at which the aircraft rotates around each coordinate axis of the inertial coordinate system in turn;

[0125] 1.2 The dynamic model of the four-rotor aircraft during tr...

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Abstract

The present invention provides a four-rotor aircraft total-state constrained control method based on a symmetric time varying tangent constraint Lyapunov function. For a dynamic system of a four-rotoraircraft, a symmetric time varying tangent constraint Lyapunov function is selected, and a four-rotor aircraft total-state constrained control method based on the symmetric time varying tangent constraint Lyapunov function is designed. The design of the symmetric time varying tangent constraint Lyapunov function is to ensure state and output of the system can be limited in a certain range to avoid too large overshoot and reduce the arriving time so as to improve the dynamic response performances of a four-rotor aircraft system. The method provided by the invention allows the system to have agood dynamic response process.

Description

technical field [0001] The invention relates to a four-rotor aircraft full-state limited control method based on a symmetrical time-varying tangent-type constrained 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 ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/10G05D1/08
CPCG05B13/042G05D1/0825G05D1/101
Inventor 陈强胡忠君胡轶吴春
Owner ZHEJIANG UNIV OF TECH
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