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Rigid aircraft attitude constraint tracking control method based on improved barrier Lyapunov function

A technology of tracking control and control method, applied in attitude control, adaptive control, general control system, etc.

Active Publication Date: 2019-04-16
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the attitude constraint problem existing in the existing rigid aircraft attitude control system, the present invention provides a rigid aircraft attitude constraint tracking control method based on the improved obstacle Lyapunov function, when there is external disturbance in the system and the moment of inertia is uncertain Under this condition, the attitude tracking error and angular velocity error of the rigid aircraft system are uniformly ultimately bounded

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  • Rigid aircraft attitude constraint tracking control method based on improved barrier Lyapunov function

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[0084] The present invention will be further described below in conjunction with the accompanying drawings.

[0085] refer to Figure 1 to Figure 6 , a method for tracking control of a rigid aircraft attitude constraint based on improved obstacle Lyapunov function, said control method comprising the following steps:

[0086] Step 1, establish the kinematics and dynamics model of the rigid aircraft, initialize the system state and control parameters, the process is as follows:

[0087] 1.1 The kinematic equation of the rigid aircraft system is:

[0088]

[0089]

[0090] 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 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:

[0091]

[0092] 1.2 The dynamic...

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Abstract

The invention discloses a rigid aircraft attitude constraint tracking control method based on an improved barrier Lyapunov function. Aiming at a rigid aircraft with an external disturbance and an uncertain rotational inertia, a novel improved barrier Lyapunov function suitable for constraint and non-constraint conditions is constructed, then a reverse-step control and a self-adaptive method are combined, the rigid aircraft attitude constraint tracking control method based on the improved barrier Lyapunov function is provided. The application of the improved barrier Lyapunov function realizes the constraint of aircraft output, and the overall uncertainty can be estimated under the condition that any priori knowledge is not needed through the self-adaptive method. According to the control method, under the condition that external interference and rotational inertia are not determined, and the consistency of an aircraft attitude tracking error and an angular velocity error is ensured to be finally bonded.

Description

technical field [0001] The invention relates to a rigid aircraft attitude constraint tracking control method based on improved obstacle Lyapunov function, in particular to a rigid aircraft attitude tracking method with external disturbance, uncertain moment of inertia and output constraints. Background technique [0002] Rigid aircraft is a nonlinear, strongly coupled, multi-input and multi-output complex system. Due to the complexity of the aircraft structure, mission load changes, and fuel consumption during flight, the moment of inertia of the aircraft itself contains many uncertainties. These uncertainties are very Difficult to measure quantitatively and thus negatively impacts attitude control. At the same time, there are many external disturbance moments affecting the aircraft all the time during flight, such as radiation moment, gravity gradient moment, geomagnetic moment and so on. With the improvement of the degree of refinement of the mission, it is not enough to ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/042G05D1/0808
Inventor 陈强陈中天何熊熊孙明轩
Owner ZHEJIANG UNIV OF TECH
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