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Nonsingular self-adaptive fixed time attitude stabilization method of rigid aircraft

A fixed time, aircraft technology, used in adaptive control, instrumentation, control/regulation systems, etc., to solve problems such as difficulty for designers to know

Inactive Publication Date: 2018-12-21
ZHEJIANG UNIV OF TECH
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Problems solved by technology

However, the existing finite-time techniques for estimating the convergence time need to know the initial information of the system, which is difficult for the designer to know

Method used

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  • Nonsingular self-adaptive fixed time attitude stabilization method of rigid aircraft
  • Nonsingular self-adaptive fixed time attitude stabilization method of rigid aircraft
  • Nonsingular self-adaptive fixed time attitude stabilization method of rigid aircraft

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Embodiment Construction

[0067] The present invention will be further described below in conjunction with the accompanying drawings.

[0068] refer to Figure 1-Figure 6 , a non-singular self-adaptive fixed-time attitude stabilization method for a rigid aircraft, the method comprising the following steps:

[0069] Step 1, establish the kinematics and dynamics model of the rigid aircraft system, initialize the system state and control parameters, the process is as follows:

[0070] 1.1 The kinematic equation of the rigid aircraft system is:

[0071]

[0072]

[0073] where q v =[q 1 ,q 2 ,q 3 ] T and q 4 are the vector part and the scalar part of the unit quaternion respectively and satisfy q 1 ,q 2 ,q 3 are the values ​​mapped on the x, y, and z axes of the space Cartesian coordinate system; respectively q v and q 4 derivative of for q v transpose of ; Ω∈R 3 is the angular velocity of the rigid vehicle; I 3 is R 3×3 identity matrix; Expressed as:

[0074]

[0075] 1.2...

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Abstract

The invention discloses a nonsingular self-adaptive fixed time attitude stabilization method of a rigid aircraft. For the rigid aircraft attitude stabilization problem with central uncertainty, a nonsingular fixed time self-adaptive controller is designed by adopting a sliding mode control method and combining the self-adaptive technology; the design of the nonsingular fixed time sliding mode surface not only guarantees the fixed time convergence of a system state, but also solves the singular value problem; furthermore, the self-adaptive update law is used for estimating system overall uncertainty which comprises uncertain upper bounds of external interference and the rotational inertia, so that the overall uncertainty upper body information is unnecessary to know in advance. Under the uncertain factors of the external interface and the rotational inertia, the fixed time uniform final boundedness control of the system state is realized.

Description

technical field [0001] The invention relates to a non-singular self-adaptive fixed-time attitude stabilization method for a rigid aircraft, in particular to an attitude stabilization method for a rigid aircraft with external disturbance and uncertain moment of inertia matrix. Background technique [0002] Rigid aircraft attitude control systems play an important role in the healthy and reliable motion of rigid aircraft. In a complex aerospace environment, the rigid aircraft attitude control system will be affected by various external disturbances and uncertain moment of inertia matrices. In order to effectively maintain the performance of the system, it needs to be robust to external disturbances and uncertain moment of inertia matrix. As a typical nonlinear control method, sliding mode variable structure control can effectively improve the stability and maneuverability of rigid aircraft, and has strong robustness, thereby improving the ability to perform tasks. Therefore,...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强谢树宗孙明轩
Owner ZHEJIANG UNIV OF TECH
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