Four-rotor aircraft self-adaptive control method based on exponential enhancement type power reaching law and fast terminal sliding mode surface

Abstract

The invention provides a four-rotor aircraft self-adaptive control method based on an exponential enhancement type power reaching law and a fast terminal sliding mode surface. The method includes thefollowing steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, a dynamics model ofthe four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding mode surface and a first-order derivative thereof. According to the method, the exponential enhancement type power reaching law, sliding mode control and fast terminal sliding mode control are combined so that the reachingspeed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity and robustness of a system are improved, and rapid and stable controlcan be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity ina traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.

Description

technical field [0001] The invention relates to an adaptive control method of a quadrotor aircraft based on an exponentially enhanced power reaching 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 the military, and greatly increasing work efficiency in civilian use. Quadrotors are highly flexible, can achieve rapid transitions of motion and hovering at any time, and can han...

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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 speed up the approaching speed of the reaching law and reduce chattering, the present invention adopts fast terminal sliding mode control and based on exponentially enhanced power reaching law, through The idea of ​​switching control avoids the singularity problem, accelerates the approach speed of the system to the sliding mode surface, reduces chattering, and realizes limited time control

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