Adaptive control method of quadrotor aircraft based on inverse proportional function enhanced fast power reaching law and fast terminal sliding surface

Abstract

A quadrotor adaptive control method based on an inverse proportional function enhanced fast power reaching law and a 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 invention combines the enhanced fast power reaching law sliding mode control based on the inverse proportional function and the fast terminal sliding mode control, which can not only increase the approach speed when it is far away from the sliding mode surface, but also reduce chattering and improve the rapidity of the system , to achieve fast and stable control, and at the same time, it can realize the finite time control of the tracking error, which solves the problem that the tracking error tends to zero when the time is infinite 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 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...

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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 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

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