Finite-time control method for four-rotor aircraft based on hyperbolic sinusoidal enhanced constant speed approach law and fast terminal sliding mode surface

Abstract

The invention relates to a finite-time control method for a four-rotor aircraft based on the hyperbolic sinusoidal enhanced constant speed 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 dynamics model 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 sinusoidal enhanced constant speed approach 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, rapidness 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 four-rotor aircraft based on a hyperbolic sine enhanced constant-velocity approach 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 ...

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 the fast terminal sliding mode control and the constant velocity approaching law based on hyperbolic sine enhancement , through the idea of ​​switching control, the singularity problem is avoided, the approach speed of the system to the sliding surface is accelerated, the chattering is reduced, and the finite time control is realized

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