Four-rotor aircraft adaptive control method based on inverse proportional function enhanced fast power reaching law and fast terminal sliding mode surface

Abstract

The invention discloses a four-rotor aircraft adaptive control method based on an inverse proportional function enhanced fast power reaching law and a fast terminal sliding mode surface, and the method comprises the following steps: 1, determining a transfer matrix from an aircraft body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth; 2, analyzing a four-rotor aircraft kinetic model according to a Newton-Euler equation; 3, calculating a tracking error, and designing a controller according to the fast terminal sliding mode surface and a first-order derivative thereof. The method can increase the reaching speed when the aircraft is far from the sliding mode surface through combining the inverse proportional function enhanced fast power reaching law sliding mode control and fast terminal sliding mode control, and also can reduce the vibration. The method improves the quickness of a system, achieves the fast and stable control, also canachieve the finite time control of a tracking error, and solves a problem that the tracking error of a conventional sliding mode surface approaches to zero only in infinite time. Meanwhile, the methodimproves the stability of the system through the adaptive estimation of the interference boundary.

Description

technical field [0001] The invention relates to an adaptive control method of a four-rotor aircraft based on an inverse proportional function enhanced fast 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 hov...

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 the fast terminal sliding mode control and the enhanced fast power reaching law based on the inverse proportional function , 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

Images