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Quaternion description based rapid convergence control method of quardrotor

A technology of quadrotor UAV and control method, which is applied in the field of flight control and can solve problems such as infinite adjustment time

Inactive Publication Date: 2018-08-03
HEFEI UNIV OF TECH
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Problems solved by technology

Its control algorithm generally only guarantees the asymptotic stability of the closed-loop system, but the adjustment time for the UAV to converge to the desired state is infinite. From the perspective of convergence time, if the UAV can converge to the desired value within a limited time, it is obviously important. Therefore, it is urgent to propose a fast convergence control method for quadrotor UAVs with faster convergence speed

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  • Quaternion description based rapid convergence control method of quardrotor
  • Quaternion description based rapid convergence control method of quardrotor
  • Quaternion description based rapid convergence control method of quardrotor

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[0114] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0115] Simulation and experiment of the present invention all realize by the Simulink toolbox in the simulation software MATLAB R2010 to build the model of quadrotor unmanned aerial vehicle, figure 1 It is a schematic diagram of the double-loop control strategy adopted by the present invention.

[0116] The specific steps of the fast convergence control method for quadrotor UAV based on quaternion description are as follows:

[0117] S1. Establish a quadrotor...

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Abstract

The invention relates to a quaternion description based rapid convergence control method of a quardrotor, and belongs to the technical field of flight control. A quardrotor control system model is established, a quardrotor control system is divided into a position subsystem and an attitude subsystem, a finite-time position controller of the quardrotor is designed, a finite-time attitude controllerof the quardrotor is designed, a motor rotating speed controller of the quardrotor is obtained, and flight of the quardrotor is controlled according to the motor rotating speed controller thereof. Afinite-time control technology is used to improve the convergence speed of a closed-loop system, so that the system can be converged to an expected value more rapidly within finite time; and comparedwith a traditional PID control method, the rapid convergence control method of the quardrotor is higher in anti-interference performance and robustness, and influence of different external interference on the quardrotor in practical flight is reduced effectively.

Description

technical field [0001] The invention belongs to the technical field of flight control, in particular to a fast convergence control method for a quadrotor UAV based on quaternion description. Background technique [0002] Quadrotor drone is a kind of unmanned drone with six degrees of freedom, vertical lift, indoor flight, and fixed-point hovering. It has been widely used due to its simple structure, good maneuverability, and low maintenance cost. It has important research significance and application prospects in the fields of aerial photography, environmental monitoring, geographic exploration, search and rescue. In the field of control, the quadrotor UAV is a typical nonlinear model, which has the characteristics of multivariable, strong coupling and under-actuation, and is easily disturbed by various external environments, such as wind interference, so its control problem is subject to It has attracted extensive attention from scholars at home and abroad. [0003] At pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 都海波朱文武温广辉吴笛程盈盈金小峥
Owner HEFEI UNIV OF TECH
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