Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Adaptive control method for quadrotor aircraft based on inverse proportional function enhanced power reaching law and fast terminal sliding surface

A quadrotor aircraft, terminal sliding mode technology, applied in attitude control, control/regulation system, non-electric variable control and other directions, can solve the problems of accelerating the approach speed of the approach law, and the sliding mode surface cannot achieve limited time control, etc. Achieve the effect of increasing approach speed, shortening arrival time and improving stability

Active Publication Date: 2021-08-03
ZHEJIANG UNIV OF TECH
View PDF7 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 power reaching 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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Adaptive control method for quadrotor aircraft based on inverse proportional function enhanced power reaching law and fast terminal sliding surface
  • Adaptive control method for quadrotor aircraft based on inverse proportional function enhanced power reaching law and fast terminal sliding surface
  • Adaptive control method for quadrotor aircraft based on inverse proportional function enhanced power reaching law and fast terminal sliding surface

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[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 an inverse proportional function 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 follo...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A quadrotor adaptive control method based on an inverse proportional function-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 present invention combines inverse proportional function enhanced power approaching law sliding mode control and fast terminal sliding mode control, not only can increase the approaching speed when away from the sliding mode surface, but also reduce chattering, improve the rapidity of the system, and realize fast Stable control, while realizing the finite time control of the tracking error, solves the problem that the tracking error tends to 0 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 an inverse proportional function 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 terms, and greatly increasing work efficiency in civilian terms. Quadrotors are highly flexible, can achieve rapid transitions of motion and hovering at a...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 陈强陈凯杰胡轶吴春
Owner ZHEJIANG UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com