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

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...

AI Technical Summary

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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