Four-rotor aircraft attitude control method and controller

Abstract

The invention discloses a four-rotor aircraft attitude control method and controller. For the disadvantage that a four-rotor aircraft system is difficult to establish a precise physical model, the nonlinear dynamic characteristic of the system is described by establishing a RBF-ARX model, which is locally linear and globally nonlinear, by adopting a system identification method; for the characteristic of the model and to satisfy quick response characteristic and relatively high control performance requirements of the system, the model is converted into a non-minimum state space model having anintegration link at first; then, a prediction controller is designed; furthermore, input is parameterized by using a laguerre function; therefore, predictive control of the online optimization variable of the system is reduced; furthermore, a given reference signal can be precisely tracked; and, for the numerical stability problem due to increasing of a prediction time domain, an exponential decay weight is introduced into a target function, so that a closed-loop system has the specified stability. The scheme has the characteristics of being short in online optimization time and steady in numerical value in a relatively large prediction time domain condition, and has relatively high practical value and application prospect.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an attitude control method and a controller of a quadrotor aircraft. Background technique [0002] The quadrotor aircraft has a light, compact and simple structure, and flexible flight control methods. It has strong adaptability to complex terrain and small spaces. In recent years, it has been widely used in various fields such as disaster rescue, power inspection, and express transportation. With the improvement of quadrotor aircraft in terms of size, weight, endurance and vision, it will have a wide range of application prospects in the future. Therefore, research on the modeling and control of quadrotor aircraft is of great significance and value. [0003] The quadrotor aircraft has a symmetrical cross structure and is powered by four propeller motors. By changing the speed and direction of rotation of the motors, various flight attitudes, ascents and descents of th...

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a four-rotor aircraft attitude control method and controller to effectively improve the control performance of the four-rotor aircraft system and solve the problems of predictive control in the prediction time domain and control time domain. In large cases, the online optimization calculation time is long and the numerical value is unstable.

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