A non-singular adaptive non-smooth attitude tracking control method for unmanned aerial vehicles

Abstract

The invention provides a non-singular adaptive non-smooth attitude tracking control method for a quadrotor unmanned aerial vehicle, comprising: presetting a given attitude angle, a given rotational speed and a given rotational acceleration; and obtaining the quadrotor unmanned aerial vehicle Calculate the current attitude angle and current rotation speed of the machine; calculate the calculation error value of the given attitude angle, the given rotation speed and the current attitude angle and current rotation acceleration, and calculate the regression vector according to the attitude angle and rotation acceleration; According to the calculated error value Calculate the non-smooth control term; obtain the parameter estimate according to the regression vector and the calculated error value; obtain the control value according to the regression vector, the parameter estimate, and the non-smooth control term; obtain the control value according to the control value, required lift and rotor type The rotation speed of the rotor is calculated and generated; the invention eliminates the singular problem caused by the smooth control, improves the performance of the controller, improves the dynamic and static quality of the attitude tracking control of the quadrotor unmanned aerial vehicle, and simultaneously improves the practicability of the controller.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a non-singular adaptive non-smooth attitude tracking control method of an unmanned aerial vehicle. [0002] technical background [0003] With the continuous improvement of automation technology, computer technology, chip technology and other technical levels, the application field of UAV has expanded from the purely military field to the civilian field; as a kind of multi-rotor UAV, quad-rotor UAV has It has many advantages such as simple structure, small size, fast flight speed and strong endurance. It can be widely used in reconnaissance and surveillance, traffic supervision, aerial photography and other fields with great application prospects. The ability to stop, can be better applied to the urban environment. [0004] At present, there are mainly the following methods for high-quality attitude tracking control of quadrotor UAVs: First, the controller...

AI Technical Summary

Problems solved by technology

[0004] At present, there are mainly the following methods in the high-quality attitude tracking control of quadrotor UAVs: one is to use the traditional adaptive control method to design the controller, this type of method can eliminate the influence of parameter uncertainty, but in the trajectory The tracking error convergence speed and the suppression of external disturbances have limited performance; the second is the sliding mode controller designed using the sliding mode variable structure control method. Invariance, and has the advantages of no need for system online identification parameters, simple physical realization, etc.

However, there are chattering problems in practical applications, so there are great difficulties in engineering applications

The third is finite time control. This method has faster convergence speed, smaller steady-state error boundary, and stronger anti-disturbance ability, but it does not have adaptive ability to load changes, so its control quality is greatly affected by disturbances.

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