Adaptive control method for quadrotor aircraft based on hyperbolic tangent enhanced double power reaching law and fast terminal sliding surface
A four-rotor aircraft, adaptive control technology, applied in the direction of adaptive control, attitude control, general control system, etc., can solve the problems of accelerating the approaching speed of the approach law, and the sliding mode surface can not achieve limited time control, etc., to achieve increased Effects of approaching speed, shortening arrival time, and reducing chattering
Active Publication Date: 2021-08-03
ZHEJIANG UNIV OF TECH
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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 approach speed of the reaching law and reduce chattering, the present invention adopts fast terminal sliding mode control and double power approach based on hyperbolic tangent enhancement The idea of switching control avoids the singularity problem, speeds up the approach speed of the system to the sliding surface, reduces chattering, and realizes finite-time control
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[0075] The present invention will be further described below in conjunction with the accompanying drawings.
[0076] refer to Figure 1-Figure 11 , an adaptive control method for quadrotor aircraft based on hyperbolic tangent enhanced double power reaching law and fast terminal sliding surface, including the following steps:
[0077] Step 1, determine the transfer matrix from the body coordinate system based on the quadrotor aircraft to the inertial coordinate system based on the earth;
[0078]
[0079] Among them, ψ, θ, and φ are the yaw angle, pitch angle, and roll angle of the aircraft, respectively, indicating the rotation angle of the aircraft around each axis of the inertial coordinate system in turn, and T ψ represents the transition matrix of ψ, T θ Denotes the transition matrix of θ, T φ Represents the transition matrix of φ;
[0080] Step 2, analyze the quadrotor aircraft dynamics model according to the Newton Euler formula, the process is as follows:
[008...
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A quadrotor adaptive control method based on hyperbolic tangent-enhanced double power reaching law and fast terminal sliding surface, comprising the following steps: The transfer matrix of the inertial coordinate system; step 2, analyze the dynamic model of the quadrotor aircraft according to the Newton Euler formula; step 3, calculate the tracking error, and design the controller according to the fast terminal sliding mode surface and its first derivative. The present invention combines hyperbolic tangent enhanced double power approaching law sliding mode control and fast terminal sliding mode control, not only can increase the approach speed when away from the sliding mode surface, but also reduce chattering, and improve the rapidity and performance of the system. Robustness, realizing fast and stable control, and realizing finite time control of tracking error at the same time, which solves the problem that the tracking error tends to zero only when the time tends to infinity in the traditional sliding mode surface. By self-adaptively estimating the boundary of interference, the stability of the system is improved.
Description
technical field [0001] The invention relates to an adaptive control method for a quadrotor aircraft based on a hyperbolic tangent enhanced double power approach law and a fast terminal sliding mode surface. Background technique [0002] Due to the characteristics of simple structure, strong maneuverability and unique flight mode, quadrotor aircraft has attracted extensive 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, rotorcraft can lift vertically, has low environmental requirements, does not need a runway, reduces costs, and has huge commercial value. The development of aircraft has made many dangerous high-altitude operations easy and safe, deterring other countries in military aspects, and greatly increasing work efficiency in civilian aspects. Quadrotors are highly flexible, can achieve rapid transitions of motion and hovering at a...
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IPC IPC(8): G05B13/04G05D1/08G05D1/10
CPCG05B13/042G05D1/0825G05D1/101
Inventor 陈强陈凯杰胡轶吴春
Owner ZHEJIANG UNIV OF TECH