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Adaptive fixed time attitude tracking control method taking problem of performer constraint into consideration of rigid aircraft

A fixed time, tracking control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems that are difficult for designers to know

Inactive Publication Date: 2019-01-04
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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  • Adaptive fixed time attitude tracking control method taking problem of performer constraint into consideration of rigid aircraft
  • Adaptive fixed time attitude tracking control method taking problem of performer constraint into consideration of rigid aircraft
  • Adaptive fixed time attitude tracking control method taking problem of performer constraint into consideration of rigid aircraft

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Embodiment Construction

[0082] The present invention will be further described below in conjunction with the accompanying drawings.

[0083] refer to Figure 1-Figure 6 , a rigid aircraft adaptive fixed-time attitude tracking control method considering the limited problem of actuators, the control method includes the following steps:

[0084] Step 1, establish the kinematics and dynamics model of the rigid aircraft, initialize the system state and control parameters, the process is as follows:

[0085] 1.1 The kinematic equation of the rigid aircraft system is:

[0086]

[0087]

[0088] 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 ; Ω∈R 3 is the angular velocity of the rigid vehicle; I 3 is R 3×3 identity matrix; Expressed as:

[0089]

[0090] 1.2 ...

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Abstract

The invention relates to an adaptive fixed time attitude tracking control method taking the problem of performer constraint into consideration of a rigid aircraft. A sliding mode control method is used aimed at the problem in attitude tracking of the rigid aircraft with concentrated nondeterminacy, and an adaptive technology is combined to design a nonsingular fixed time adaptive controller. Design of the sliding mode surface of nonsingular fixed time ensures fixed time convergence of the system state, and solves the problem of singular values. The system nondeterminacy is estimated via adaptive update rules, and it is not required to know upper boundary information of nondeterminacy in advance. Boundary control with fixed time consistency of the attitude tracking error and angular velocity error is realized under condition that external interference and inertia moment are uncertain and a performer is saturated or has a fault.

Description

technical field [0001] The invention relates to an adaptive fixed-time attitude tracking control method for a rigid aircraft considering the problem of limited actuators, in particular to an attitude tracking method for a rigid aircraft with external disturbances, uncertain moment of inertia matrix, saturated and faulty actuators. Background technique [0002] Rigid aircraft attitude control systems play an important role in the healthy and reliable motion of rigid aircraft. In the complex aerospace environment, the attitude control system of rigid aircraft will be affected by various external disturbances and the aging and failure of rigid aircraft during long-term continuous missions. In order to effectively maintain the performance of the system, it needs to be robust to external disturbances and actuator failures; in addition, the rigid aircraft also has an uncertain moment of inertia matrix, so control saturation is also a common problem for aircraft. To sum up, when a...

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Application Information

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