Nonlinear robust control method used for posture control of small unmanned helicopter

An unmanned helicopter, robust control technology, applied in attitude control, general control system, adaptive control, etc., can solve the problem of lack of theoretical proof for the stability of the closed-loop system

Inactive Publication Date: 2019-04-26
TIANJIN UNIV
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Problems solved by technology

[0005] In recent years, intelligent control methods have also been widely used in the control of unmanned helicopters. Limnaios G et al. used fuzzy intelligent methods to realize the flight control of small unmanned helicopters. However, using this intelligent control method, the stabi

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  • Nonlinear robust control method used for posture control of small unmanned helicopter
  • Nonlinear robust control method used for posture control of small unmanned helicopter
  • Nonlinear robust control method used for posture control of small unmanned helicopter

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Embodiment Construction

[0061] The invention aims to provide a continuous nonlinear robust control method, which can keep the flight attitude stable even when the small helicopter has system parameter uncertainty and external disturbance. For this reason, the technical scheme that the present invention adopts is, based on the robust control algorithm of error sign function integral, in conjunction with neural network algorithm, in the attitude system control that is used for small-sized man-machine without helicopter, comprises the following steps:

[0062] Step 1) determine the coordinate system definition of small unmanned helicopter;

[0063] The definition of the small unmanned helicopter coordinate system mainly involves two coordinate systems, the inertial coordinate system {I}={O I ,x I ,y I ,z I} and body coordinate system {B}={O B ,x B ,y B ,z B}, where O i (i=I,B) represents the origin of the coordinate system, x i ,y i ,z i (i=I, B) respectively correspond to the unit vectors in...

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Abstract

The invention relates to a nonlinear robust control over a small unmanned helicopter, and provides a constant nonlinear robust control method. The aim is realized that the small unmanned helicopter can still keep a flight posture stable under the conditions of system parameter uncertainty and external interference. In this way, in the adopted technical scheme, the nonlinear robust control method for posture control of the small unmanned helicopter is used for posture system control of the small unmanned helicopter on the basis of a robust control algorithm for an error sign function integral and in combination with a neural network algorithm. The nonlinear robust control method is mainly applied to nonlinear control occasions of the small unmanned helicopter.

Description

technical field [0001] The invention relates to a nonlinear control method for a small unmanned helicopter, in particular to a neural network-based robust control method for a small unmanned helicopter. Specifically, it involves a nonlinear robust control method for attitude control of small unmanned helicopters. Background technique [0002] In recent years, with the advancement of technologies such as sensors, communications, and embedded information, the performance of UAVs has been significantly improved in all aspects, and has achieved considerable development in military and civilian fields. Compared with fixed-wing UAVs, unmanned helicopters have many advantages such as simple operation, low-altitude flight, fixed-point hovering, and vertical take-off and landing. Small unmanned helicopters (maximum take-off weight less than 50kg) maintain all the flight characteristics and physics of full-size helicopters. In addition, they are more flexible and agile than full-siz...

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Application Information

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IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/042G05D1/0808G05D1/0816G05D1/0825
Inventor 鲜斌张浩楠张旭
Owner TIANJIN UNIV
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