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

A technology of quadrotor aircraft and control method, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that the sliding mode surface cannot achieve limited time control, accelerate the approach speed of the system to the sliding mode surface, and accelerate Problems such as reaching law and approaching speed can achieve the effect of realizing limited time control, shortening the arrival time and increasing the approaching speed

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 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 reaching law and fast terminal sliding surface
  • Finite-time control method for quadrotor aircraft based on exponentially enhanced exponential reaching law and fast terminal sliding surface
  • Finite-time control method for quadrotor aircraft based on exponentially enhanced exponential 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 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

A finite-time control method for a quadrotor aircraft based on an exponentially enhanced exponential reaching law and a fast terminal sliding surface, comprising the following steps: Step 1, determining the distance from the body coordinate system based on the quadrotor aircraft to the inertial coordinate system based on the earth Transfer matrix; step 2, analyze the dynamic model of the quadrotor aircraft according to Newton Euler's 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 is aimed at the four-rotor aircraft system, combined with the sliding mode control based on the index-enhanced exponential approaching law 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 system performance. The rapidity and robustness of the system can 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 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 Patents(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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