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Finite-time control method for four-rotor aircraft based on hyperbolic tangent enhanced exponential approach law and fast terminal sliding mode 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., and can solve the problems that the sliding mode surface cannot realize finite time control and accelerate the approaching speed of the reaching law.

Active Publication Date: 2018-11-20
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 achieve finite time control and further accelerate the approach speed of the reaching law and reduce chattering

Method used

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  • Finite-time control method for four-rotor aircraft based on hyperbolic tangent enhanced exponential approach law and fast terminal sliding mode surface
  • Finite-time control method for four-rotor aircraft based on hyperbolic tangent enhanced exponential approach law and fast terminal sliding mode surface
  • Finite-time control method for four-rotor aircraft based on hyperbolic tangent enhanced exponential approach law and fast terminal sliding mode surface

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Embodiment Construction

[0075] The present invention will be further described below in conjunction with the accompanying drawings.

[0076] refer to Figure 1-Figure 9 , a finite-time control method for quadrotor aircraft based on hyperbolic tangent-enhanced exponential reaching law and 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:

[008...

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Abstract

The invention relates to a finite-time control method for a four-rotor aircraft based on the hyperbolic tangent enhanced exponential approach law and a fast terminal sliding mode surface. The method comprises steps that S1, a transfer matrix from a body coordinate system based on the four-rotor aircraft to an Earth-based inertial coordinate system is determined; S2, a four-rotor aircraft dynamicsmodel is analyzed according to the Newton Euler formula; and S3, a tracking error is calculated, and a controller is designed according to the fast terminal sliding mode surface and a first order derivative thereof. For the four-rotor aircraft system, in combination with hyperbolic tangent enhanced exponential approaching law sliding mode control and fast terminal sliding mode control, not only can the approaching speed be increased during movement away from the sliding mode surface, but also chattering can be reduced, the speed and robustness of the system are improved, fast and stable control is achieved, moreover, finite time control of the tracking error can be achieved, and a problem that the tracking error only tends to zero in a traditional sliding mode surface only when the time tends to infinity is solved.

Description

technical field [0001] The invention relates to a finite-time control method of a quadrotor aircraft based on a hyperbolic tangent 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 a...

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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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