Rapid terminal sliding mode adaptive control system and method of quadrotor unmanned aerial vehicle

Abstract

The invention provides a rapid terminal sliding mode adaptive control system and method of a quadrotor unmanned aerial vehicle. A double-closed-loop structure is adopted, an outer ring is a position subsystem, and an inner ring is an attitude subsystem. Input of the position subsystem of the outer ring is a given desired signal, and the input of the attitude subsystem of the inner ring is a rolling and pitch signal output by the position subsystem and a desired yaw signal. An adaptive estimation subsystem is also included and is used for estimating a system parameter, and a saturation functionis used to replace a switching function. An inner and outer ring structure control method is adopted according to a control command. An outer ring output position control law acts on the position subsystem, and an output pitch and roll angle is used as the input of the attitude subsystem. An inner ring output pitch, roll and yaw angle control law acts on the attitude subsystem. In the invention,flight control performance of the quadrotor unmanned aerial vehicle is improved, stability and robustness of the system are enhanced, and response time of the system is reduced.

Description

technical field [0001] The invention relates to the technical field of UAV attitude control, in particular to a fast terminal sliding mode adaptive control system and method for a quadrotor UAV. Background technique [0002] Quadrotor drones have superior performance such as hovering and vertical take-off and landing, and are widely used in military and civilian fields. However, the quadrotor UAV is a complex system with high nonlinearity, strong coupling, and underactuation. The traditional PID control has a better control effect only when the quadrotor UAV works near the hovering point and has approximately linear characteristics. , which is less robust. [0003] Although the traditional sliding mode control can control the nonlinear system, there is chattering phenomenon, and the system state cannot converge quickly within a limited time. [0004] Usually, the external interference of quadrotor UAVs changes randomly, and for some UAVs with specific functions, their self...

AI Technical Summary

Problems solved by technology

However, the quadrotor UAV is a complex system with high nonlinearity, strong coupling, and underactuation. The traditional PID control has a better control effect only when the quadrotor UAV works near the hovering point and has approximately linear characteristics. , which is less robust

[0003] Although the traditional sliding mode control can control the nonlinear system, there is chattering phenomenon, and the system state cannot be quickly converged within a limited time

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