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Adaptive control method for quadrotor aircraft based on arctangent-enhanced double-power reaching law and fast terminal sliding surface

A quadrotor aircraft, adaptive control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc. The effect of close speed, shortened arrival time, and reduced chattering

Active Publication Date: 2021-08-03
ZHEJIANG UNIV OF TECH
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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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  • Adaptive control method for quadrotor aircraft based on arctangent-enhanced double-power reaching law and fast terminal sliding surface
  • Adaptive control method for quadrotor aircraft based on arctangent-enhanced double-power reaching law and fast terminal sliding surface
  • Adaptive control method for quadrotor aircraft based on arctangent-enhanced double-power reaching law and fast terminal sliding surface

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Embodiment Construction

[0077] The present invention will be further described below in conjunction with the accompanying drawings.

[0078] refer to Figure 1-Figure 11 , an adaptive control method for a quadrotor aircraft based on an arctangent-enhanced double-power reaching law and a fast terminal sliding surface, including the following steps:

[0079] 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;

[0080]

[0081] 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;

[0082] Step 2, analyze the quadrotor aircraft dynamics model according to the Newton Euler formula, the process is as follows:

[0083...

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Abstract

A quadrotor adaptive control method based on arctangent-enhanced double-power reaching law and fast terminal sliding surface, comprising the following steps: Step 1, determining the inertia from the body coordinate system based on the quadrotor to the earth-based The transfer matrix of the 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 arctangent-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 can reduce chattering, and improve the rapidity and performance of the system. Robustness, fast and stable control, and tracking error finite time control, which solves the problem that the tracking error tends to zero only when the time tends to infinity in the traditional sliding mode surface. At the same time, the boundary of interference is estimated through self-adaptation, which improves the stability of the system.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强陈凯杰胡轶吴春
Owner ZHEJIANG UNIV OF TECH
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