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Adaptive control method for quadrotor aircraft based on exponentially enhanced double-power reaching law and fast terminal sliding surface

A four-rotor aircraft, adaptive control technology, applied in the direction of attitude control, control/regulation system, non-electric variable control, etc., can solve the problem of accelerating the approach speed of the system to the sliding mode surface, accelerating the approach speed of the approach law, and failing to Realize problems such as limited time control, achieve the effect of shortening the arrival time, increasing the approach speed, and reducing chattering

Active Publication Date: 2021-08-03
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 for quadrotor aircraft based on exponentially enhanced double-power reaching law and fast terminal sliding surface
  • Adaptive control method for quadrotor aircraft based on exponentially enhanced double-power reaching law and fast terminal sliding surface
  • Adaptive control method for quadrotor aircraft based on exponentially enhanced double-power reaching law and fast terminal sliding surface

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[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

A quadrotor adaptive control method based on exponentially enhanced double-power reaching law and fast terminal sliding mode surface, comprising the following steps: Step 1, determining from the body coordinate system based on the quadrotor to the inertial coordinates based on the earth The transfer matrix of the system; step 2, analyze the dynamic model of the quadrotor aircraft according to 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 present invention combines exponentially enhanced double-power approaching law sliding mode control and 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 and robustness of the system. Rodness, to achieve fast and stable control, and at the same time to achieve finite time control of tracking error, which solves the problem that the tracking error tends to zero only when the time tends to infinity 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 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 Patents(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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