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

Abstract

The invention relates to a four-rotor aircraft self-adaptive control method based on a hyperbolic sine exponential enhancement type power reaching law and a fast terminal sliding mode surface. The method comprises the following 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, adynamics model of the 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 modesurface and a first-order derivative thereof. According to the method, the hyperbolic sine exponential enhancement type power reaching law, sliding mode control and fast terminal sliding mode controlare combined so that the reaching speed 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 control can 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 in a 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 for a quadrotor aircraft based on a hyperbolic sine 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 h...

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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 approaching speed of the reaching law and reduce chattering, the present invention adopts fast terminal sliding mode control and hyperbolic sine-based enhanced power reaching law , 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 finite time control is realized

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