Finite-time control method of quadrotor aircraft based on logarithm-enhanced exponential reaching law and fast terminal sliding surface
A technology of quadrotor aircraft and control method, applied in control/adjustment system, non-electric variable control, three-dimensional position/course control, etc., can solve the problem of accelerating the approach speed of the system to the sliding mode surface, and the sliding mode surface cannot realize the limited time Control, speed up the approaching speed of the reaching law, etc., to achieve the effect of 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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[0004] In order to overcome the problem that the traditional sliding mode surface cannot realize finite time control and further accelerate the approach speed of the reaching law and reduce chattering, the present invention adopts fast terminal sliding mode control and based on logarithmically enhanced exponential reaching law, through 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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[0074] The present invention will be further described below in conjunction with the accompanying drawings.
[0075] refer to Figure 1-Figure 9 , a finite-time control method for a quadrotor aircraft based on a logarithmically enhanced exponential reaching law and a 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:
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A finite-time control method for a quadrotor aircraft based on a logarithm-enhanced exponential reaching law and a fast terminal sliding surface, comprising the following steps: Step 1, determining from the body coordinate system based on the quadrotor aircraft to the inertial coordinate system based on the earth The transition matrix; step 2, analyze the dynamic model of the quadrotor aircraft according to the Newton Euler formula; step 3, calculate the tracking error, and design the controller according to the fast terminal sliding surface and its first derivative. The present invention is aimed at the four-rotor aircraft system, and combines the sliding mode control based on the logarithm-enhanced exponential approaching law 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 can realize fast and stable control, and can realize the finite time control of the tracking error at the same time, 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 a logarithm-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 time, ...
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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 陈强陈凯杰陶玫玲胡轶吴春
Owner ZHEJIANG UNIV OF TECH