Four-rotor aircraft finite time control method based on logarithmic enhanced constant-speed reaching law and rapid terminal sliding mode surface

Abstract

Provided is a four-rotor aircraft finite time control method based on a logarithmic enhanced constant-speed reaching law and a rapid terminal sliding mode surface. The method includes following steps:step 1, determining a transfer matrix from a body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on earth; step 2, analyzing a kinetic model of the four-rotoraircraft according to a Newton Euler's formula; and step 3, calculating a tracking error, and designing a controller according to the rapid terminal sliding mode surface and a first-order derivativethereof. For a four-rotor aircraft system, with the combination of the logarithmic enhanced constant-speed reaching law sliding mode control and the rapid terminal sliding mode control, the reaching speed can be increased when being far from the sliding mode surface, the buffeting can be reduced, the rapidity and the robustness of the system are improved, rapid and stable control can be realized,finite time control of the tracking error can be realized, and the problem that in the conventional sliding mode surface, only when the time reaches infinity, the tracking error can reach 0 is solved.

Description

Technical field [0001] The invention relates to a finite-time control method for a four-rotor aircraft based on a logarithmic enhanced constant velocity approaching law and a fast terminal sliding mode surface. Background technique [0002] Due to its simple structure, strong maneuverability, and unique flight mode, the quadrotor has attracted widespread attention from scholars and scientific research institutions at home and abroad, and has quickly become one of the current international research hotspots. Compared with fixed-wing aircraft, rotary-wing aircraft can lift vertically, have low environmental requirements, do not need a runway, reduce costs, and have huge commercial value. The development of aircraft has made many dangerous high-altitude operations easier and safer, has created a military deterrent to other countries, and has greatly increased work efficiency in civilian applications. The quadrotor has strong flexibility, can realize the rapid transition between mov...

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 fast terminal sliding mode control and a logarithmically enhanced constant-velocity 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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