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Adaptive control method of quad-rotor aircraft based on sliding mode surface of index enhanced double-power reaching law and rapid terminal

A four-rotor aircraft, adaptive control technology, applied in the direction of attitude control, non-electric variable control, control/regulation system, etc., can solve the problem of accelerating the approach speed of the system to the sliding mode surface, unable to achieve limited time control, and accelerating the approach Law approach speed and other issues to achieve the effect of avoiding singularity problems, reducing chattering, and speeding up approach speed

Active Publication Date: 2018-10-12
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the problem that the traditional sliding mode surface cannot realize the 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 exponentially enhanced double power approaching law, 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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  • Adaptive control method of quad-rotor aircraft based on sliding mode surface of index enhanced double-power reaching law and rapid terminal
  • Adaptive control method of quad-rotor aircraft based on sliding mode surface of index enhanced double-power reaching law and rapid terminal
  • Adaptive control method of quad-rotor aircraft based on sliding mode surface of index enhanced double-power reaching law and rapid terminal

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Embodiment Construction

[0074] The present invention will be further described below in conjunction with the accompanying drawings.

[0075] refer to Figure 1-Figure 11 , an adaptive control method for a quadrotor aircraft based on an exponentially enhanced double-power reaching law and a fast terminal sliding surface, including the following steps:

[0076] 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;

[0077]

[0078] 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;

[0079] Step 2, analyze the quadrotor aircraft dynamics model according to the Newton Euler formula, the process is as follows:

[0...

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Abstract

Provided is an adaptive control method of a quad-rotor aircraft based on the sliding mode surface of an index enhanced double-power reaching law and a rapid terminal. The method comprises the following steps that 1) a transfer matrix from a body coordinate system based on the quad-rotor aircraft to an inertia coordinate system based on the earth is determined; 2) a dynamic model of the quad-rotoraircraft is analyzed according to a Newton-Euler formula; and 3) a tracking error is calculated, and a controller is designed according to the sliding mode surface of the rapid terminal and a first-order derivative thereof. Sliding mode control via the index enhanced double-power reaching law is combined with sliding mode control of the rapid terminal, the reaching speed is increased when being far from the sliding mode surface, jittering is reduced, a system is rapider and more robust, rapid and stable control is realized, the tracking error is controlled in limit time, and the problem that the tracking error reaches 0 only if time reaches infinite in a traditional sliding mode surface. The interference boundary is estimated via adaption, and the system stability is improved.

Description

technical field [0001] The invention relates to an adaptive control method of a quadrotor aircraft based on an exponentially 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 ti...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 陈强陈凯杰胡轶吴春
Owner ZHEJIANG UNIV OF TECH
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