Adaptive control method for four-rotor aircraft based on enhanced bipower reaching law of inverse proportional function and rapid terminal sliding mode surface

Abstract

The invention relates to an adaptive control method for a four-rotor aircraft based on an enhanced bipower reaching law of an inverse proportional function and a rapid terminal sliding mode surface. The method comprises the following steps that 1) a transfer matrix from a body coordinate system based on the four-rotor aircraft to the earth based inertia coordinate system is determined; 2) a dynamic model of the four-rotor aircraft is analyzed according to a Newton-Euler formula; and 3) a tracking error is calculated, and a controller is designed according to the rapid terminal sliding mode surface and a first-order derivative thereof. According to the method, sliding mode control of the enhanced bipower reaching law of the inverse proportional function is combined with rapid terminal sliding mode control, the reaching speed can be increased far from the sliding mode surface, buffeting is reduced, the system is rapider and more robust, rapid and stable control is realized, the trackingerror is controlled with limited time, and the problem that the tracking error tends to 0 only when time tends to infinite in a traditional sliding mode surface is solved. The interference boundary isestimated via adaption, and the system stability is improved.

Description

technical field [0001] The invention relates to an adaptive control method for a quadrotor aircraft based on an inverse proportional function-enhanced double-power reaching law and a fast terminal sliding mode surface. Background technique [0002] Due to its simple structure, strong maneuverability and unique flight mode, quadrotor aircraft has attracted widespread attention from scholars and scientific research institutions at home and abroad, and has quickly become one of the hot spots in international research. Compared with fixed-wing aircraft, rotary-wing aircraft can lift vertically, have low environmental requirements, do not need runways, reduce costs, and have huge commercial value. The development of aircraft has made many dangerous high-altitude operations easier and safer, deterred other countries in the military, and greatly increased the efficiency of work in the civilian. The quadrotor has strong flexibility, can achieve rapid transition of motion and hover ...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problem that the traditional sliding mode surface cannot realize finite time control and further accelerate the approaching speed of the reaching law and reduce chattering, the present invention adopts the fast terminal sliding mode control and the enhanced double power reaching law based on the inverse proportional function , through the idea of ​​switching control, the singularity problem is avoided, the approach speed of the system to the sliding surface is accelerated, the chattering is reduced, and the finite time control is realized

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