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An Attitude Constrained Tracking Control Method for Rigid Aircraft Based on Improved Obstacle Lyapunov Function

A control method, tracking control technology, applied in attitude control, adaptive control, general control system and other directions

Active Publication Date: 2021-10-26
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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  • An Attitude Constrained Tracking Control Method for Rigid Aircraft Based on Improved Obstacle Lyapunov Function
  • An Attitude Constrained Tracking Control Method for Rigid Aircraft Based on Improved Obstacle Lyapunov Function
  • An Attitude Constrained Tracking Control Method for Rigid Aircraft Based on Improved Obstacle 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

An attitude-constrained tracking control method for rigid aircraft based on improved obstacle Lyapunov function. For rigid aircraft with external disturbance and uncertain moment of inertia, a new improved obstacle Lyapunov function suitable for constrained and unconstrained situations is constructed. Combined with backstepping control and adaptive method, an attitude-constrained tracking control method for rigid aircraft based on improved obstacle Lyapunov function is proposed. The application of the modified obstacle Lyapunov function implements constraints on the aircraft output, while the adaptive method can estimate the overall uncertainty without any prior knowledge. The present invention ensures that the attitude tracking error and the angular velocity error of the aircraft are consistent and ultimately bounded under the circumstance of external interference and rotational inertia uncertainty.

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 Patents(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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