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Immersion and invariance model-free adaptive control method of small unmanned helicopters

A model-free adaptive, unmanned helicopter technology, applied in the direction of non-electric variable control, attitude control, control/regulation system, etc., can solve the problems of not being able to perceive and avoid obstacles, not suitable for tasks, etc.

Inactive Publication Date: 2019-07-09
TIANJIN UNIV
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Problems solved by technology

In 2006, researchers at the University of California, Berkeley tried to use airborne lidar for environmental perception. As shown in the figure, traditional GPS (Global Positioning System, Global Positioning System)-based navigation systems usually cannot perceive and avoid obstacles, so they Not suitable for tasks in chaotic urban environments

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  • Immersion and invariance model-free adaptive control method of small unmanned helicopters
  • Immersion and invariance model-free adaptive control method of small unmanned helicopters
  • Immersion and invariance model-free adaptive control method of small unmanned helicopters

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Embodiment Construction

[0052] The technical solution adopted in the present invention is a model-free adaptive robust control method for small unmanned helicopters, the steps are as follows:

[0053] (1) Establish the coordinate system related to the small unmanned helicopter:

[0054] The two coordinate systems are the inertial coordinate system {I} and the body coordinate system {B}, both of which satisfy the right-hand rule. The origin of the inertial coordinate system {I} is located on the ground, and the origin of the body coordinate system {B} is located on the drone centroid of {x I the y I z I} and {x B the y B z B} respectively represent the three main axes corresponding to the inertial coordinate system {I} and the body coordinate system {B};

[0055] (2) Establish a dynamic model between the UAV's use of the helicopter's lateral cyclic pitch change, longitudinal cyclic pitch change, and tail rotor total pitch and the UAV's roll angle, pitch angle, and yaw angle;

[0056] Taking...

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Abstract

The invention relates to unmanned aerial vehicle control, and aims to provide an adaptive law and non-linear controller for small unmanned helicopters, wherein the adaptive law and non-linear controller is good in robustness and can compensate uncertainty of a dynamic system at the same time. According to the technical scheme, an immersion and invariance model-free adaptive control method of the small unmanned helicopters comprises the following steps: the controller is designed and used for real-timely adjusting and compensating output data of the controller at the current moment according toattitude sampling data and controller output sampling data at the previous moment, and thus attitude control over the small unmanned helicopters is achieved. The adaptive law and non-linear controller is mainly applied to occasions of unmanned aerial vehicle design and manufacturing.

Description

technical field [0001] The invention relates to a control method of an unmanned aerial vehicle, in particular to a control method based on an immersed invariant set model-free adaptive control theory. Specifically, an immersed invariant set model-free adaptive control method is involved in a small unmanned helicopter. Background technique [0002] Small unmanned helicopters are special aircraft that can complete autonomous flight tasks without human driving. This type of aircraft has many characteristics such as vertical take-off and landing, low-altitude flight, etc., and has been widely used in various fields. At the same time, due to the characteristics of strong coupling, nonlinearity, and complex mathematical models of unmanned helicopters, it is difficult to analyze and model the dynamics of unmanned helicopters and design controllers. [0003] With the increasing application range of small unmanned helicopters, the research on control algorithms for small unmanned h...

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 鲜斌潘晓龙张旭
Owner TIANJIN UNIV
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