Robust Quadrotor Trajectory/Attitude Composite Anti-jamming Tracking Control Method Based on Adaptive Integral

A tracking control and tracking controller technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve problems such as insufficient robustness of control performance, and achieve reduction of conservatism, high-precision tracking control, improvement of The effect of anti-interference ability

Inactive Publication Date: 2021-07-02
ZHONGBEI UNIV
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Problems solved by technology

It is not difficult to find that the existing research does not separate and classify the applied disturbances, and only uses a single anti-interference mechanism (such as disturbance compensation or parameter estimation) to deal with unknown external disturbances and uncertainties, and the control effect is relatively conservative , the control performance has the defect of insufficient robustness

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  • Robust Quadrotor Trajectory/Attitude Composite Anti-jamming Tracking Control Method Based on Adaptive Integral
  • Robust Quadrotor Trajectory/Attitude Composite Anti-jamming Tracking Control Method Based on Adaptive Integral
  • Robust Quadrotor Trajectory/Attitude Composite Anti-jamming Tracking Control Method Based on Adaptive Integral

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[0039] The present invention will be further described below in conjunction with specific embodiments and accompanying drawings.

[0040] A robust four-rotor trajectory / attitude compound anti-jamming tracking control method based on adaptive integration, such as figure 1 shown, including the following steps:

[0041] (1) Establish a quadrotor motion / dynamics vectorization model considering parameter uncertainties and external disturbances. The quadrotor motion / dynamics vectorization model is:

[0042]

[0043] Among them, X 1 =[X 11 ,X 12 ,X 13 ] T 、X 2 =[X 21 ,X 22 ,X 23 ] T is the position vector and velocity vector of the quadrotor in the inertial coordinate system; X 1 , X 2 The initial value of X 1 =[0,0,0] T m, x 2 =[0,0,0] T m / s, m ​​is the mass of the quadrotor; Π 1 =diag(k x ,k y ,k z )∈R 3×3 is the aerodynamic damping matrix, k i (i=x,y,z) is the aerodynamic damping coefficient; F=g 1 u 1 -G,u 1 is the sum of the lift generated by the four...

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Abstract

The invention discloses a four-rotor track / attitude compound anti-interference tracking control method based on adaptive integral robustness. Aiming at the unknown mass, the parameter uncertainty caused by the three-axis rotational inertia and the additive external disturbance in the quadrotor space flight control process, the anti-jamming control method of adaptive and integral robust compound is used to realize the control of quadrotor trajectory / attitude Accurate tracking: First, establish a quadrotor motion / dynamic vector model considering parameter uncertainty and external disturbance; second, decompose the above model into a scalar model that can describe three-channel position, velocity, attitude, and angular rate changes; Then, according to the above scalar model, construct a quadrotor track compound anti-jamming tracking controller based on adaptive integral robustness; finally, according to the scalar model of the attitude loop and the expected attitude angle command generated by the solution of the position loop controller, construct a controller based on Adaptive integral robust quadrotor attitude compound anti-jamming tracking controller.

Description

technical field [0001] The present invention relates to the field of four-rotor track / attitude tracking in the direction of navigation guidance, specifically a four-rotor track / attitude compound anti-interference tracking control method based on adaptive integral robustness, which is mainly used to solve the problem of mass, three-axis moment of inertia, etc. Quadrotor trajectory / attitude precise tracking control problem under the coexistence of parameter uncertainty and external disturbance. Background technique [0002] In recent years, quadrotor aircraft has attracted extensive attention from researchers at home and abroad due to its excellent performance such as convenient control, strong expandability, high agility, and vertical take-off and landing. Compared with fixed-wing aircraft, quadrotor aircraft has the advantages of small size, light weight, and low cost, and is widely used in investigation, tracking, disaster rescue, image shooting and other occasions. As the...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 邵星灵杨卫孟庆霄王琳玮
Owner ZHONGBEI UNIV
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