Adaptive control method for quadrotor aircraft based on logarithm-enhanced 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, the sliding mode surface cannot achieve limited time control, Accelerate the approaching speed of the approaching law to achieve the effect of shortening the arrival time, reducing chattering 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 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 based on logarithmic enhanced power reaching 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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[0075] The present invention will be further described below in conjunction with the accompanying drawings.
[0076] refer to Figure 1-Figure 11 , an adaptive control method for a quadrotor aircraft based on a logarithm-enhanced power reaching law and a fast terminal sliding surface, including the following steps:
[0077] 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;
[0078]
[0079] 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;
[0080] Step 2, analyze the quadrotor aircraft dynamics model according to the Newton Euler formula, the process is as follows:
[0081] 2.1, du...
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A quadrotor adaptive control method based on a logarithm-enhanced power reaching law and a fast terminal sliding 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 invention combines the logarithmically enhanced power reaching law sliding mode control and the 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 a logarithm-enhanced power 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 time, and can ...
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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 陈强陈凯杰胡轶吴春
Owner ZHEJIANG UNIV OF TECH