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Control method of finite time convergence attitude of four-rotor unmanned aerial vehicle

A four-rotor unmanned aerial vehicle, limited time technology, applied in the direction of attitude control, etc., can solve the problems of weakening the control effect of the controlled object near the non-equilibrium point, and the disturbance of the unmanned aerial vehicle cannot be ignored

Active Publication Date: 2019-06-14
TIANJIN UNIV
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Problems solved by technology

But in fact, the disturbance to the UAV cannot be ignored
2) Some control methods linearize the model of the controlled object near the equilibrium point, and design the controller on this basis, thus weakening the control effect of the controlled object near the non-equilibrium point

Method used

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  • Control method of finite time convergence attitude of four-rotor unmanned aerial vehicle

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Embodiment Construction

[0057] In order to overcome the existing deficiencies, the present invention will design a nonlinear attitude controller for the quadrotor UAV. The nonlinear attitude controller acts in the quadrotor UAV system figure 2 There are concrete manifestations. The technical scheme adopted in the present invention is a nonlinear attitude control method of a quadrotor UAV. Proceed as follows:

[0058] 1) Establish a quadrotor UAV dynamics model

[0059] The present invention adopts the Newton-Euler method to establish the dynamic model of the quadrotor UAV, and the expression is as follows:

[0060]

[0061] The variables in formula (1) are defined as follows: for drone quality, is the spatial position vector of the UAV in the inertial coordinate system. And g=9.8m / s 2 represents the acceleration due to gravity. is the translational damping coefficient matrix, K x , K y , K z are constant parameters, and are the air damping coefficients of the UAV along the three ax...

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Abstract

The invention relates to precise control of attitude of a four-rotor unmanned aerial vehicle. In order to provide a nonlinear attitude controller for the four-rotor unmanned aerial vehicle, a controlmethod of finite time convergence attitude of the four-rotor unmanned aerial vehicle is provided. The control method of the finite time convergence attitude of the four-rotor unmanned aerial vehicle includes the following steps that (1) a four-rotor unmanned aerial vehicle kinetic model is established, and the four-rotor unmanned aerial vehicle kinetic model is established through a Newton-Eulerian method; (2) nonlinear controller design comprises roll angle phi nonlinear controller design, pitch angle theta nonlinear controller design, and yaw angle psi nonlinear controller design; and finally, finite time convergence control of unmanned aerial vehicle attitude errors is realized. The control method of the finite time convergence attitude of the four-rotor unmanned aerial vehicle is mainly applied to attitude precise control occasions of the four-rotor unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the precise attitude control of a quadrotor UAV. Considering that the quadrotor UAV system has the characteristics of high nonlinearity, underactuation, strong coupling and uncertain disturbance, a nonlinear attitude controller based on second-order sliding mode control is proposed to realize the UAV attitude control. The error results in finite time convergence. Specifically, it relates to a finite-time convergent attitude control method for a quadrotor UAV. Background technique [0002] Due to its simple mechanical structure, vertical take-off and landing, hoverability, and relatively low site requirements, multi-rotor UAVs have occupied an increasingly important position in scientific research, civil, and military applications in recent years. Among the many types of multi-rotor UAVs, quad-rotor UAVs are more commonly used. It changes the attitude of the aircraft by changing the relative speed between the four rotors and ...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 鲜斌张诗婧
Owner TIANJIN UNIV
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