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Rigid aircraft nonsingular fixed-time attitude stabilization method considering actuator limitation problem

A fixed time, aircraft technology, applied in attitude control, instrument, non-electric variable control and other directions, can solve the problem that the designer is difficult to know, and achieve the effect of solving the singular value problem

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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  • Rigid aircraft nonsingular fixed-time attitude stabilization method considering actuator limitation problem
  • Rigid aircraft nonsingular fixed-time attitude stabilization method considering actuator limitation problem
  • Rigid aircraft nonsingular fixed-time attitude stabilization method considering actuator limitation problem

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Embodiment Construction

[0069] The present invention will be further described below in conjunction with the accompanying drawings.

[0070] refer to Figure 1-Figure 6 , a non-singular fixed-time attitude stabilization method for a rigid-body vehicle considering the problem of limited actuators, the control method comprising the following steps:

[0071] Step 1, establish the kinematics and dynamics model of the rigid aircraft, initialize the system state and control parameters, the process is as follows:

[0072] 1.4 The kinematic equation of the rigid aircraft system is:

[0073]

[0074]

[0075] 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; Exp...

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Abstract

Disclosed is a rigid aircraft nonsingular fixed-time attitude stabilization method considering an actuator limitation problem. Aiming at an attitude stabilization problem of a rigid aircraft with concentrated uncertainty, a nonsingular fixed-time sliding surface is designed, which ensures fixed-time convergence of a state and solves a singular value problem. An adaptive neural network controller is designed by introducing a neural network to approximate a function of total uncertainty. The rigid aircraft nonsingular fixed-time attitude stabilization method considering the actuator limitation problem realizes uniform and ultimately bounded control of the fixed-time of the state of the aircraft under factors of external interference, uncertain moment of inertia, actuator saturation and faults.

Description

technical field [0001] The invention relates to a non-singular fixed-time attitude stabilization method for a rigid-body aircraft considering the problem of limited actuators, in particular an attitude stabilization method for a rigid-body aircraft with external disturbances, uncertain moment of inertia matrix, actuator saturation and failure. 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 s...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 陈强谢树宗孙明轩
Owner ZHEJIANG UNIV OF TECH
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