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

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

Inactive Publication Date: 2018-09-14
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the relatively poor transient performance of existing quadrotor aircraft systems, the present invention provides a four-rotor aircraft full-state limited control method based on symmetric time-invariant symmetric time-invariant tangent Lyapunov function, reducing The overshoot amount and overshoot time are improved, so that the quadrotor aircraft system has a good dynamic response performance

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

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Embodiment Construction

[0115] The present invention will be further described below in conjunction with the accompanying drawings.

[0116] refer to Figure 1-Figure 7 , a full-state limited control method for a quadrotor aircraft based on a symmetric time-invariant exponential tangent compound-type constrained Lyapunov function, including the following steps:

[0117] 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:

[0118]

[0119] 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;

[0120] 1.2 The dynamic model of the four-rotor aircraft during translation is as follows:

[0121]

[0122] Among them, x, y, z represent the three positions of the quadrotor aircraft in the inertial coordinate system, U ...

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Abstract

A four-rotor aircraft total state constrained control method based on a symmetric time-invariant exponential tangent compound constraint Lyapunov function. For the dynamic system of a four-rotor aircraft, a symmetric time-invariant exponential tangent compound constraint Lyapunov function is selected, and a four-rotor aircraft total state constrained control method based on the symmetric time-invariant exponential tangent compound constraint Lyapunov function is designed. The design of the symmetric time-invariant exponential tangent compound constraint Lyapunov function ensures that the stateand the output of a system can be restricted to a certain range, avoids excessive overshoot and shortens arrival time, thereby improving the dynamic response performance of the four-rotor aircraft system. The four-rotor aircraft total state constrained control method based on a symmetric time-invariant exponential tangent compound constraint Lyapunov function provides the system with a good dynamic response process.

Description

technical field [0001] The invention relates to a full-state limited control method of a four-rotor aircraft based on a symmetrical time-invariant exponential tangent compound-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, ba...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 陈强胡忠君许昌源吴春胡轶
Owner ZHEJIANG UNIV OF TECH
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