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Finite time control method for quadrotor aircraft based on exponentially enhanced exponential approach law and fast terminal sliding mode surface

A technology of quadrotor aircraft and control method, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem that the sliding mode surface cannot realize finite time control, accelerate the approach speed of the approach law, and accelerate the arrival of the system Sliding mode surface approach speed and other issues

Active Publication Date: 2018-11-16
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 based on the exponentially enhanced exponential reaching law, by switching The idea of ​​control avoids the singularity problem, accelerates the approach speed of the system to the sliding surface, reduces chattering, and realizes finite time control

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  • Finite time control method for quadrotor aircraft based on exponentially enhanced exponential approach law and fast terminal sliding mode surface
  • Finite time control method for quadrotor aircraft based on exponentially enhanced exponential approach law and fast terminal sliding mode surface
  • Finite time control method for quadrotor aircraft based on exponentially enhanced exponential approach law and fast terminal sliding mode 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 9 , a quadrotor finite-time control method based on exponentially enhanced exponential reaching law and 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:

[0080] 2.1, during the...

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Abstract

The invention discloses a finite time control method for a quadrotor aircraft based on an exponentially enhanced exponential approach law and a fast terminal sliding mode surface. The method comprisesthe following steps: 1, determining a transfer matrix from a body coordinate system based on the quadrotor aircraft to an inertial coordinate system based on the earth; 2, analyzing a quadrotor aircraft kinetic model according to the Newton-Euler equation; 3, calculating a tracking error, and designing a controller according to the fast terminal sliding mode surface and a first-order derivative thereof. Aiming at a quadrotor aircraft system, the method combines the exponentially enhanced exponential approach law control and the fast terminal sliding mode control, so the method can increase the approach speed during departing from the sliding mode surface, also can reduce the jitter, improves the quickness and robustness of the system, achieves the quick and stable control, also can achieve the finite time control of the tracking error, and solves a problem that only when time approaches to infinity in the conventional sliding mode surface, can the tracking error approach to zero.

Description

technical field [0001] The invention relates to a finite-time control method of a quadrotor aircraft based on an exponentially enhanced exponential reaching 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 t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强陈凯杰陶玫玲胡轶吴春
Owner ZHEJIANG UNIV OF TECH
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