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Robust control method for unmanned aerial vehicle attitude, and robust controller for achieving method

A robust controller and robust control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as little consideration of interference classification, and achieve the effect of maintaining system stability

Inactive Publication Date: 2019-01-11
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, few current solutions allow for the classification of interference

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  • Robust control method for unmanned aerial vehicle attitude, and robust controller for achieving method

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[0052] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0053] It should be emphasized that in the process of describing the present invention, various formulas and constraints are distinguished by using consistent labels, but it does not exclude the use of different labels to mark the same formulas and / or constraints. The purpose of such setting is In order to illustrate the features of the present invention more clearly.

[0054] Such as figure 1 As shown, in order to stabilize the attitude system of the quadrotor UAV, considering the existence of matching disturbance f and mismatching disturbance d in the UAV system, by proposing a non-singular terminal sliding mode observer and a disturbance observer based on The control strategy, so as to realize the real-time observation and compensation of the ...

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Abstract

The invention provides a robust control method for unmanned aerial vehicle attitude, and a robust controller for achieving the method. The method comprises the following steps of building a second-order system mathematical model of an unmanned aerial vehicle; establishing a non-singular terminal sliding mode observer, and meanwhile, providing a sliding mode controller; and establishing an interference observer, and meanwhile, providing an interference controller. The robust controller comprises the non-singular terminal sliding mode observer and the sliding mode controller which are used for observing and controlling an unmanned aerial vehicle state and a matching interference condition, and the interference observer and the interference controller which are used for observing and controlling the unmanned aerial vehicle state and a non-matching interference condition. According to the method, in the presence of two kinds of interferences, the state of a four-rotor unmanned aerial vehicle system can be observed, and the two kinds of interferences can be compensated, so that the unmanned aerial vehicle system can reach the stable state, and the expected control goal of the attitude control of the four-rotor unmanned aerial vehicle system is achieved.

Description

technical field [0001] The invention belongs to the field of industrial automatic control, and in particular relates to a robust control method for the attitude of a quadrotor unmanned aerial vehicle and a robust controller using the method. Background technique [0002] Quadrotor UAVs are widely used at home and abroad, and the corresponding research is particularly in-depth. It is an aircraft composed of two sets of propellers in a criss-cross symmetrical structure. Among the four propellers of the aircraft, the opposite propellers have the same direction of rotation. During use, various flight attitudes of the UAV can be realized by changing the rotation speed of the propeller. Compared with the traditional rotor UAV, the current quadrotor UAV has many advantages, such as: high maneuverability, simple structure, low cost, good safety, easy maintenance and so on. However, as quadrotor drones are used more and more widely in people's lives, the related flying tasks are be...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 曹宁周映江蒋国平周帆
Owner NANJING UNIV OF POSTS & TELECOMM
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