Self-adaptive control method for four-rotor aircraft based on arc tangent-enhanced double-power reaching law and rapid terminal sliding mode surface

Abstract

The invention relates to a self-adaptive control method for a four-rotor aircraft based on an arc tangent-enhanced double-power reaching law and a rapid terminal sliding mode surface. The method comprises the following steps: (1) determining a transfer matrix from a body coordinate system based on the four-rotor aircraft to an inertial coordinate system based on the earth; (2) analyzing a kineticmodel of the four-rotor aircraft based on a Newton-Euler's formula; and (3) calculating a tracking error, and designing a controller according to the rapid terminal sliding mode surface and a first-order derivative of the rapid terminal sliding mode surface. According to the method, by combining arc tangent-enhanced double-power reaching law sliding mode control with rapid terminal sliding mode control, the reaching speed can be increased in a place far from the sliding mode surface, and the material vibration can be reduced, so that the rapidness and robustness of a system can be improved, and the rapid and stable control is realized; and meanwhile, the finite time of the tracking error can be controlled, so that the problem that the tracking error tends to be 0 only when the time tends to be infinite in a traditional sliding mode surface is solved; and meanwhile, an interfered boundary is estimated in a self-adapting manner, so that 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 an arctangent-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 any time...

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 fast terminal sliding mode control and double power reaching law based on arctangent enhancement , 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 limited time control is realized

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