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Finite-time control method of quadrotor aircraft based on hyperbolic sine-enhanced constant-velocity reaching law and fast terminal sliding surface

A technology of a quadrotor aircraft and a control method, applied in attitude control, control/regulation system, non-electric variable control, etc., can solve the problem of accelerating the approaching speed of the system to the sliding mode surface, accelerating the approaching speed of the approaching law, which cannot be achieved. problems such as limited time control, to achieve the effect of limited time control, fast and stable convergence, and shortened arrival time

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 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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  • Finite-time control method of quadrotor aircraft based on hyperbolic sine-enhanced constant-velocity reaching law and fast terminal sliding surface
  • Finite-time control method of quadrotor aircraft based on hyperbolic sine-enhanced constant-velocity reaching law and fast terminal sliding surface
  • Finite-time control method of quadrotor aircraft based on hyperbolic sine-enhanced constant-velocity reaching law and fast terminal sliding surface

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[0072] The present invention will be further described below in conjunction with the accompanying drawings.

[0073] refer to Figure 1-Figure 7 , a finite-time control method for quadrotor aircraft based on hyperbolic sine-enhanced constant-velocity reaching law and fast terminal sliding surface, including the following steps:

[0074] 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;

[0075]

[0076] 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;

[0077] Step 2, analyze the quadrotor aircraft dynamics model according to the Newton Euler formula, the process is as follows:

[...

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Abstract

A finite-time control method for quadrotor aircraft based on hyperbolic sine-enhanced constant-velocity reaching law and fast terminal sliding surface, comprising the following steps: Step 1, determining the inertia from the body coordinate system based on the quadrotor aircraft to the earth-based The transfer matrix of the coordinate system; 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 mode surface and its first derivative. For the quadrotor aircraft system, combined with the enhanced constant velocity approach law sliding mode control based on hyperbolic sine and the fast terminal sliding mode control, it can not only increase the approach speed when it is far away from the sliding mode surface, but also reduce chattering. Improve the rapidity and robustness of the system, realize fast and stable control, and at the same time realize the finite time control of the 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.

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 ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0825G05D1/101
Inventor 陈强陈凯杰胡轶吴春
Owner ZHEJIANG UNIV OF TECH
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