Finite-time control method of quadrotor aircraft based on inverse proportional function enhanced constant velocity reaching law and fast terminal sliding surface

Abstract

A finite-time control method of a quadrotor aircraft based on an inverse proportional function enhanced constant velocity reaching law and a fast terminal sliding surface, comprising the following steps: Step 1, determining the inertial coordinates from the body coordinate system based on the quadrotor aircraft to the earth-based 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. For the quadrotor aircraft system, combined with the enhanced constant velocity approaching law sliding mode control based on the inverse proportional function and the fast terminal sliding mode control, it 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 realize 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 only when the time tends to infinity in the traditional sliding mode surface.

Description

technical field [0001] The invention relates to a finite-time control method of a four-rotor aircraft based on an inverse proportional function enhanced constant-velocity 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 motio...

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 an enhanced constant-velocity approaching law based on an inverse proportional function. 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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